MR-J4- B -LL MODEL (DRIVE UNIT) MR-J4-DU B -LL · PDF fileSH(NA)030241-A(1606)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses

SH(NA)030241-A(1606)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODELCODE

General-Purpose AC Servo

MR

-J4-_B_-L

L S

ER

VO

AM

PL

IFIE

R IN

ST

RU

CT

ION

MA

NU

AL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL (SERVO AMPLIFIER)

MR-J4-_B_-LL

SSCNET /H Interface AC Servo for Pressure Control

SERVO AMPLIFIER INSTRUCTION MANUAL

MODEL (DRIVE UNIT)

MR-J4-DU_B_-LL

A - 1

Safety Instructions Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage.

Note that the CAUTION level may lead to a serious consequence depending on conditions.

Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 2

1. To prevent electric shock, note the following

WARNING Before wiring, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (between L+ and L- for

converter unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it

may cause an electric shock.

Do not operate switches with wet hands. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric

shock.

During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock.

Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the

power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, be sure to connect the protective earth (PE) terminal (marked ) of the

servo amplifier to the protective earth (PE) of the cabinet.

To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire.

Be sure to connect a magnetic contactor between the power supply and the main circuit power supply

(L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the magnetic contactor. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

Be sure to connect a molded-case circuit breaker or a fuse to each servo amplifier between the main circuit power supply and the power supply (L1, L2, and L3) of the servo amplifier, in order to configure a circuit that shuts off the power supply by the molded-case circuit breaker or the fuse. If a molded-case

circuit breaker or fuse is not connected, a continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions.

When using a regenerative resistor, shut the power off with the alarm signal. Otherwise, a regenerative

transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.

Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and servo motor.

A - 3

3. To prevent injury, note the following

CAUTION Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a burst, damage, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

4. Additional instructions The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and cabinet walls or other equipment. Do not install or operate the servo amplifier and servo motor which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier. Otherwise, it may cause a malfunction. As the servo amplifiers and the servo motors are delicate products, avoid dropping or heavy impact. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient temperature

Operation 0 °C to 55 °C (non-freezing)

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

Operation 90 %RH or less (non-condensing)

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Contact your local sales office for the altitude for options.)

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the equipment has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier, be careful about the edged parts such as corners of the servo amplifier. The servo amplifier must be installed in a metal cabinet. When fumigants that contain halogen materials, such as fluorine, chlorine, bromine, and iodine, are used for disinfecting and protecting wooden packaging from insects, they cause a malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation, such as heat treatment. Additionally, disinfect and protect wood from insects before packing the products.

A - 4

(2) Wiring

CAUTION Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side.

To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo

amplifier and servo motor.

Connect the servo amplifier power outputs (U, V, and W) to the servo motor power inputs (U, V, and W) directly. Do not connect a magnetic contactor and others between them. Otherwise, it may cause a

malfunction.

U

Servo motor

MV

W

U

V

W

U

MV

W

U

V

W

Servo amplifier Servo motorServo amplifier

The connection diagrams in this Instruction Manual are shown for sink interfaces, unless stated otherwise.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified

direction. Otherwise, the servo amplifier will malfunction and will not output signals, disabling the emergency stop and other protective circuits.

DOCOM

Control outputsignal

Servo amplifier

RA

For sink output interface

24 V DC

DOCOM


24 V DCServo amplifier

RA

For source output interface

When the wires are not tightened enough to the terminal block, the wires or terminal block may generate heat because of the poor contact. Be sure to tighten the wires with specified torque.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an

unexpected restart of the servo amplifier.

(3) Test run and adjustment

CAUTION Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.

Never make a drastic adjustment or change to the parameter values as doing so will make the operation

unstable.

Do not get close to moving parts during the servo-on status.

A - 5

(4) Usage

CAUTION Provide an external emergency stop circuit to stop the operation and shut the power off immediately.

Do not disassemble, repair, or modify the equipment.

Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident.

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier.

Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may

cause an accident.

If it is assumed that a power failure or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to

prevent such hazard.

Configure an electromagnetic brake circuit, which is activated by an external emergency stop switch.

Servo motor

Electromagnetic brake

B

RA

Contacts must be openedwith the emergency stop switch.

Contacts must be opened when ALM(Malfunction) or MBR (Electromagneticbrake interlock) turns off.

24 V DCU

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.

Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

(6) Maintenance, inspection and parts replacement

CAUTION Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment.

When using the servo amplifier that has not been energized for an extended period of time, contact your local sales office.

A - 6

(7) General instruction To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must

be installed as specified. Operation must be performed in accordance with this Instruction Manual.

DISPOSAL OF WASTE Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and

regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If

the total number of the following operations exceeds 100,000, the servo amplifier may malfunction when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes

Write to the EEP-ROM due to device changes STO function of the servo amplifier

The servo amplifier complies with safety integrity level 3 (SIL 3) of the IEC 61508:2010 functional safety standard. Refer to Appendix 14 for schedule.

When using the STO function of the servo amplifier, refer to chapter 13. For the MR-J3-D05 safety logic unit, refer to appendix 5. Compliance with global standards

For the compliance with global standards, refer to appendix 4.

A - 7

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Be sure to prepare all the instruction manuals necessary to use the servo safely. Servo amplifiers and drive units are written as servo amplifiers in this manual under certain

circumstances, unless otherwise stated.

Relevant manuals

Manual name Manual No.

MR-J4-_B(-RJ) Servo Amplifier Instruction Manual SH(NA)030106

MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109

MELSERVO MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual (Note 2) SH(NA)030153

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113

EMC Installation Guidelines IB(NA)67310

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using an MR-J4-DU_B_(-RJ) drive unit and MR-CR55K_ converter unit.

This Instruction Manual does not describe the following items. The following are the same as those for

MR-J4-_B Servo amplifiers. For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".

Item Detailed explanation

INSTALLATION MR-J4-_B_ chapter 2 MR-J4-_DU_ chapter 2

STARTUP MR-J4-_B_ chapter 4 MR-J4-_DU_ chapter 4

NORMAL GAIN ADJUSTMENT (Note) MR-J4-_B_ chapter 6

SPECIAL ADJUSTMENT FUNCTIONS (Note) MR-J4-_B_ chapter 7

DIMENSIONS MR-J4-_B_ chapter 9 MR-J4-_DU_ chapter 7

CHARACTERISTICS MR-J4-_B_ chapter 10 MR-J4-_DU_ chapter 8

ABSOLUTE POSITION DETECTION SYSTEM MR-J4-_B_ chapter 12

USING STO FUNCTION MR-J4-_B_ chapter 13

Note. Refer to chapter 4 for adjustment of pressure control.

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on an ambient temperature of 40 ˚C.

A - 8

MEMO

1

CONTENTS

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-20

1.1 Summary ........................................................................................................................................... 1- 1 1.2 Function block diagram ..................................................................................................................... 1- 2 1.3 Standard specifications ..................................................................................................................... 1- 3 1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-13 1.5 Combinations of converter units, drive units and servo motors....................................................... 1-14 1.6 Function list ...................................................................................................................................... 1-15 1.7 Model designation ............................................................................................................................ 1-18

2. SIGNALS AND WIRING 2- 1 to 2-14

2.1 Input power supply circuit ................................................................................................................. 2- 2 2.2 I/O signal connection example .......................................................................................................... 2- 3

2.2.1 For sink I/O interface .................................................................................................................. 2- 3 2.2.2 For source I/O interface ............................................................................................................. 2- 5

2.3 Connectors and pin assignment ....................................................................................................... 2- 6 2.4 Signal (device) explanations ............................................................................................................. 2- 7

2.4.1 Input device ................................................................................................................................ 2- 7 2.4.2 Output device ............................................................................................................................. 2- 8 2.4.3 Input signal ................................................................................................................................ 2-10 2.4.4 Output signal ............................................................................................................................. 2-10 2.4.5 Power supply ............................................................................................................................. 2-10

2.5 Interfaces ......................................................................................................................................... 2-11 2.5.1 Internal connection diagram ...................................................................................................... 2-11 2.5.2 Detailed explanation of interfaces ............................................................................................. 2-12 2.5.3 Source I/O interfaces ................................................................................................................ 2-14

3. PARAMETERS 3- 1 to 3-18

3.1 Parameter list .................................................................................................................................... 3- 1 3.1.1 Basic setting parameters ([Pr. PA_ _ ]) ...................................................................................... 3- 2 3.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ............................................................................... 3- 3 3.1.3 Extension setting parameters ([Pr. PC_ _ ]) .............................................................................. 3- 4 3.1.4 I/O setting parameters ([Pr. PD_ _ ]) ......................................................................................... 3- 6 3.1.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ............................................................................ 3- 7 3.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ............................................................................ 3- 8 3.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ................................................ 3- 9 3.1.8 Pressure control parameters ([Pr. PT_ _ ]) ............................................................................... 3-10

3.2 Detailed list of parameters ............................................................................................................... 3-11 3.2.1 Basic setting parameters ([Pr. PA_ _ ]) ..................................................................................... 3-11 3.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) .............................................................................. 3-12 3.2.3 Extension setting parameters ([Pr. PC_ _ ]) ............................................................................. 3-13 3.2.4 I/O setting parameters ([Pr. PD_ _ ]) ........................................................................................ 3-14 3.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]) ........................................................................... 3-14 3.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]) ........................................................................... 3-14 3.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) ............................................... 3-14 3.2.8 Pressure control parameters ([Pr. PT_ _ ]) ............................................................................... 3-15

2

4. PRESSURE LOOP GAIN ADJUSTMENT 4- 1 to 4- 8

4.1 Summary ........................................................................................................................................... 4- 1 4.2 Pressure control adjustment flowchart ............................................................................................. 4- 1 4.3 Setting of pressure control system ................................................................................................... 4- 2 4.4 Setting of pressure feedback ............................................................................................................ 4- 3 4.5 Adjustment of pressure loop gain ..................................................................................................... 4- 4 4.6 Checking of adjustment result .......................................................................................................... 4- 7

5. TROUBLESHOOTING 5- 1 to 5- 8

5.1 Explanations of the lists .................................................................................................................... 5- 1 5.2 Alarm list ........................................................................................................................................... 5- 2 5.3 Warning list ....................................................................................................................................... 5- 5 5.4 Remedies for alarms ......................................................................................................................... 5- 6 5.5 Remedies for warnings ..................................................................................................................... 2- 7

6. OPTIONS AND PERIPHERAL EQUIPMENT 6- 1 to 6- 2

6.1 MR Configurator2.............................................................................................................................. 6- 2 6.1.1 Specifications ............................................................................................................................. 6- 2

APPENDIX App.- 1 to App.- 1

App. 1 Optional data monitor function .............................................................................................. App.- 1

1. FUNCTIONS AND CONFIGURATION

1 - 1


The following items are the same as those for MR-J4-_B_. Refer to the section of the detailed explanation field for details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".


Structure MR-J4-_B_ section 1.7

MR-J4-_DU_ section 1.5

Configuration including peripheral equipment MR-J4-_B_ section 1.8


1.1 Summary

MR-J4-_B_-LL (SSCNET III/H interface pressure control compatible servo amplifier) enables pressure control using a pressure sensor (load cell). The servo amplifier receives analog signals from the pressure sensor (load cell), and a servo system controller gives a pressure command to the servo amplifier to control and maintain the actual pressure to constant even if the load changes. This function is suitable for machines such as molding machines and bonders which require pressure control. Position control, speed control, and pressure control modes are available, and the mode can be changed from the servo system controller. Items not mentioned in this manual are the same as those for MR-J4-_B_ servo amplifier. Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual". (1) Main difference from the MR-J4-_B_ servo amplifier

(a) Functions added to or changed from the MR-J4-_B_ servo amplifier

Pressure control mode

Analog input added (three points)

(b) Functions deleted or reduced from the MR-J4-_B_ servo amplifier

Torque control mode

Continuous operation to torque control mode

Encoder output pulse (A/B/Z-phase)

Digital input (reduced from four points to one point)

Digital output (reduced from three points to two points)

Fully closed loop system

Linear servo motor system

Direct drive servo system

Master-slave operation function

Scale measurement function

J3 compatibility mode

Super trace control

(c) Functions added by a software upgrade Functions available with the MR-J4-_B_ servo amplifier with software version C0 or later are not available with the MR-J4-_B_-LL.


1 - 2

(2) Compatible controller

Use the MR-J4-_B_-LL with the pressure control compatible servo system controller and operation system listed in the following table. Never connect with other controllers.

Motion controller model Operation system

R64MTCPU/R32MTCPU/R16MTCPU SW10DNC-RMTFW version 03 or later (Note)

Note. The operation system is installed before shipment. Refer to the controller instruction manual.

1.2 Function block diagram

The function block diagram of the pressure control is shown below.

S

+

-

+

-

ControllerPosition control

Pressure control(Note 1)

Speed control

(Note 3)

(Note 2)

Servo motorControl modeswitchover

Servo amplifier

A/D

Position command

Load cell

Pressure command

Speed limit command

Speed limitcommandcompensation([Pr. PT13])

+

-

+

-

Pressure feedback offset([Pr. PT21])

Load cellamplifier

Analog monitorinput filter setting([Pr. PT27])

Pressure controlcommandcompensation([Pr. PT13])

Note 1. Set the pressure loop gain with [Pr. PT01], [Pr. PT02], and [Pr. PT03].

2. Set the increasing direction of the pressure command with [Pr. PT12].

3. Set the conversion coefficient of the pressure feedback voltage with [Pr. PT22].


1 - 3

1.3 Standard specifications

(1) Servo amplifier (a) 200 V class

Model MR-J4-_-LL 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

Output Rated voltage 3-phase 170 V AC

Rated current [A] 1.1 1.5 2.8 3.2 5.8 6.0 11.0 17.0 28.0 37.0 68.0 87.0 126.0

Main circuit power supply input

Voltage/Frequency 3-phase or 1-phase 200 V AC to 240

V AC, 50 Hz/60 Hz

3-phase or 1-phase 200 V AC to 240 V

AC, 50 Hz/60 Hz (Note 10)

3-phase

200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current

(Note 8) [A] 0.9 1.5 2.6

3.2 (Note 5)

3.8 5.0 10.5 16.0 21.7 28.9 46.0 64.0 95.0

Permissible voltage fluctuation

3-phase or 1-phase 170 V AC to 264 V AC

3-phase or 1-phase 170 V AC to 264 V AC (Note 10)

3-phase 170 V AC to 264 V AC

Permissible frequency fluctuation

Within ±5%

Power supply capacity

[kVA] Refer to section 10.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Inrush current [A] Refer to section 10.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Control circuit power supply input

Voltage/Frequency 1-phase 200 V AC to 240 V AC, 50 Hz/60 Hz

Rated current [A] 0.2 0.3




Within ±5%

Power consumption [W] 30 45


Interface power supply

Voltage DC 24 V ± 10%

Current capacity [A] (Note 1) 0.3 (including CN8 connector signals)

Control method Sine-wave PWM control, current control method

Dynamic brake Built-in External option

(Note 7, 9)

SSCNET III/H communication cycle

(Note 6) 0.222 ms, 0.444 ms, 0.888 ms

Fully closed loop control Not available

Scale measurement function Not available

Load-side encoder interface Not available

Communication function USB: connection to a personal computer or others (MR Configurator2-compatible)

Encoder output pulses Not available

Analog monitor Two channels

Analog input Three points (±10 V)

Digital I/O DI 1 point, DO 2 points

Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor

overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection

Functional safety STO (IEC/EN 61800-5-2)

Safety performance

Standards certified by CB EN ISO 13849-1 category 3 PL d, IEC 61508 SIL 2, EN 62061 SIL CL2, EN 61800-5-2

Response performance 8 ms or less (STO input off → energy shut off)

(Note 3)

Test pulse input (STO)

Test pulse interval: 1 Hz to 25 Hz

Test pulse off time: Up to 1 ms

Mean time to dangerous failure (MTTFd)

MTTFd ≥ 100 [years] (314a)

Diagnostic coverage (DC) DC = Medium, 97.6 [%]

Average probability of dangerous failures per hour (PFH)

PFH = 6.4 × 10-9 [1/h]


1 - 4

Model MR-J4-_-LL 10B 20B 40B 60B 70B 100B 200B 350B 500B 700B 11KB 15KB 22KB

Compliance to global standards

CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Natural cooling, open (IP20) Force cooling, open (IP20) Force cooling, open (IP20) (Note 4)

Close mounting (Note 2)

3-phase power supply input

Possible Impossible

1-phase power supply input

Possible Impossible

Environment

Ambient temperature



Ambient humidity


Storage

Ambience Indoors (no direct sunlight),

free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level (Note 11)


Mass [kg] 0.8 1.0 1.4 2.1 2.3 4.0 6.2 13.4 18.2 Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 °C to 45 °C or at 75% or smaller

effective load ratio.

3. Test pulse is a signal which instantaneously turns off a signal to the servo amplifier at a constant period for external circuit to

self-diagnose.

4. Except for the terminal block.

5. The rated current is 2.9 A when the servo amplifier is used with a UL or CSA compliant servo motor.

6. The communication cycle depends on the controller specifications and the number of axes connected.

7. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external

dynamic brake, refer to section 11.17 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

8. This value is applicable when a 3-phase power supply is used.

9. The external dynamic brake cannot be used for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake

interlock) in [Pr. PD07] and [Pr. PD08]. Doing so will cause the servo amplifier to become servo-off when an instantaneous

power failure occurs.

10. When using 1-phase 200 V AC to 240 V AC power supply, operate the servo amplifier at 75% or smaller effective load ratio.

11. Follow the restrictions in section 2.7 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" when using the servo amplifiers

at altitude exceeding 1000 m and up to 2000 m above sea level.


1 - 5

(b) 400 V class

Model MR-J4-_-LL 60B4 100B4 200B4 350B4 500B4 700B4 11KB4 15KB4 22KB4


Rated current [A] 1.5 2.8 5.4 8.6 14.0 17.0 32.0 41.0 63.0



Rated current [A] 1.4 2.5 5.1 7.9 10.8 14.4 23.1 31.8 47.6




Within ±5%






Rated current [A] 0.1 0.2




Within ±5%

Power consumption [W] 30 45



Voltage 24 V DC ± 10%



Dynamic brake Built-in External option (Note 5, 6)

SSCNET III/H communication cycle (Note 4) 0.222 ms, 0.444 ms, 0.888 ms









Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo

motor overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection


Safety performance



(Note 2)







Average probability of dangerous failures per hour

(PFH) PFH = 6.4 × 10-9 [1/h]


CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Close mounting Impossible

Structure (IP rating) Natural cooling, open

(IP20) Force cooling, open

(IP20) Force cooling, open (IP20) (Note 3)

Environment

Ambient temperature



Ambient humidity


Storage



Altitude 2000 m or less above sea level

Vibration 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

Mass [kg] 1.7 2.1 3.6 4.3 6.5 13.4 18.2


1 - 6

Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.


self-diagnose.



5. Use an external dynamic brake for this servo amplifier. Failure to do so will cause an accident because the servo motor does

not stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external

dynamic brake, refer to section 11.17 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".


interlock) in [Pr. PD07] and [Pr. PD08]. Doing so will cause the servo amplifier to become servo-off when an instantaneous

power failure occurs.




1 - 7

(c) 100 V class

Model MR-J4-_-LL 10B1 20B1 40B1


Rated current [A] 1.1 1.5 2.8



Rated current [A] 3.0 5.0 9.0




Within ±5%






Rated current [A] 0.4




Within ±5%

Power consumption [W] 30






Dynamic brake Built-in

SSCNET III/H communication cycle

(Note 4) 0.222 ms, 0.444 ms, 0.888 ms









Protective functions Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic thermal), servo motor

overheat protection, encoder error protection, regenerative error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection


Safety performance



(Note 3)








PFH = 6.4 × 10-9 [1/h]


CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Natural cooling, open (IP20)

Close mounting (Note 2) Possible


1 - 8

Model MR-J4-_-LL 10B1 20B1 40B1

Environment

Ambient temperature



Ambient humidity


Storage





Mass [kg] 0.8 1.0 Note 1. 0.3 A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the servo amplifiers, operate them at the ambient temperatures of 0 °C to 45 °C or at 75% or smaller

effective load ratio.


self-diagnose.





1 - 9

(2) Drive unit

(a) 200 V class Model MR-J4-DU_-LL 30KB 37KB


Rated current [A] 174 204

Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.







Within ±5%


Inrush current [A] Refer to section 8.4 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".





Dynamic brake External option (Note 5, 6)










Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection,

encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection


Safety performance



(Note 2) Test pulse input (STO)







PFH = 6.4 × 10-9 [1/h]


CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Force cooling, open (IP20) (Note 3)

Environment

Ambient temperature



Ambient humidity


Storage





Mass [kg] 21


1 - 10


I/O points.

2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-

diagnose.



5. Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not

stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic

brake, refer to section 9.3 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".


interlock) in [Pr. PD07] and [Pr. PD08]. Doing so will cause the drive unit to become servo-off when an instantaneous power

failure occurs.

7. Follow the restrictions in section 2.5 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual" when using the drive units at

altitude exceeding 1000 m and up to 2000 m above sea level.


1 - 11

(b) 400 V class

Model MR-J4-DU_-LL 30KB4 37KB4 45KB4 55KB4


Rated current [A] 87 102 131 143

Main circuit power supply input The main circuit power of the drive unit is supplied by the converter unit.







Within ±5%


Inrush current [A] Refer to section 8.4 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".





Dynamic brake External option (Note 5, 6)










Protective functions Overcurrent shut-off, overload shut-off (electronic thermal), servo motor overheat protection,

encoder error protection, undervoltage protection, instantaneous power failure protection, overspeed protection, and error excessive protection


Safety performance



(Note 2) Test pulse input (STO)







PFH = 6.4 × 10-9 [1/h]


CE marking

LVD: EN 61800-5-1

EMC: EN 61800-3

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

UL standard UL 508C

Structure (IP rating) Force cooling, open (IP20) (Note 3)

Environment

Ambient temperature



Ambient humidity


Storage





Mass [kg] 16 21


1 - 12


I/O points.

2. Test pulse is a signal which instantaneously turns off a signal to the drive unit at a constant period for external circuit to self-

diagnose.



5. Use an external dynamic brake for this drive unit. Failure to do so will cause an accident because the servo motor does not

stop immediately but coasts at emergency stop. Ensure the safety in the entire equipment. For wiring of the external dynamic

brake, refer to section 9.3 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".


interlock) in [Pr. PD07] and [Pr. PD08]. Doing so will cause the drive unit to become servo-off when an instantaneous power

failure occurs.

7. Follow the restrictions in section 2.5 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual" when using the drive units at

altitude exceeding 1000 m and up to 2000 m above sea level.

(3) Converter unit

For standard specifications of MR-CR55K and MR-CR55K4, refer to section 1.2 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".


1 - 13

1.4 Combinations of servo amplifiers and servo motors

POINT

When a 1-phase 200 V AC input is used, the maximum torque of 400% cannot be achieved with HG-JR series servo motor.

When you use the MR-J4-100B-LL or MR-J4-200B-LL with the 1-phase 200 V AC input, contact your local sales office for the torque characteristics of the HG-UR series and HG-RR series servo motors.

(1) 200 V class

Servo amplifier

Servo motor

HG-KR HG-MR HG-SR HG-UR HG-RR HG-JR

HG-JR (When the maximum torque is 400%)

MR-J4-10B-LL 053 13

053 13

MR-J4-20B-LL 23 23

MR-J4-40B-LL 43 43

MR-J4-60B-LL

51 52

53

MR-J4-70B-LL 73 73 72 73

MR-J4-100B-LL

81 102

103 53

MR-J4-200B-LL

121 201 152 202

152 103 153

153 203

73 103

MR-J4-350B-LL

301 352

202 203 353 153 203

MR-J4-500B-LL

421 502

352 502

353 503

503 353

MR-J4-700B-LL 702

601 701M 703

503

MR-J4-11KB-LL

801 12K1

11K1M 903

MR-J4-15KB-LL

15K1 15K1M

MR-J4-22KB-LL

20K1 25K1

22K1M


1 - 14

(2) 400 V class

Servo amplifier

Servo motor

HG-SR HG-JR HG-JR

(When the maximum torque is 400%)

MR-J4-60B4-LL 524 534

MR-J4-100B4-LL 1024

734 1034

534

MR-J4-200B4-LL 1524 2024

1534 2034

734 1034

MR-J4-350B4-LL 3524 3534

1534 2034

MR-J4-500B4-LL 5024 5034 3534

MR-J4-700B4-LL 7024

6014 701M4 7034

5034

MR-J4-11KB4-LL

8014 12K14

11K1M4 9034

MR-J4-15KB4-LL 15K14 15K1M4

MR-J4-22KB4-LL 20K14 25K14

22K1M4

(3) 100 V class

Servo amplifier Servo motor

HG-KR HG-MR

MR-J4-10B1-LL 053 13

053 13

MR-J4-20B1-LL 23 23

MR-J4-40B1-LL 43 43

1.5 Combinations of converter units, drive units and servo motors

(1) 200 V class

Servo motor

Converter unit Drive unit HG-JR

1000 r/min series 1500 r/min series

MR-CR55K MR-J4-DU30KB-LL 30K1 30K1M

MR-J4-DU37KB-LL 37K1 37K1M

(2) 400 V class

Servo motor

Converter unit Drive unit HG-JR

1000 r/min series 1500 r/min series

MR-J4-DU30KB4-LL 30K14 30K1M4

MR-CR55K4 MR-J4-DU37KB4-LL 37K14 37K1M4

MR-J4-DU45KB4-LL 45K1M4

MR-J4-DU55KB4-LL 55K1M4


1 - 15

1.6 Function list

The following table lists the functions of this servo. For details of the functions, refer to each section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".

Function Description Detailed

explanation

Model adaptive control

This function achieves a high response and stable control following the ideal model. The two-degrees-of-freedom model adaptive control enables you to set a response to the command and a response to the disturbance separately. This function can also be disabled. To disable this function, refer to section 7.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". This is available with servo amplifiers with software version B4 or later. Check the software version with MR Configurator2. The model adaptive control is not used in the pressure control mode.

Position control mode This servo amplifier is used as a position control servo.

Speed control mode This servo amplifier is used as a speed control servo.

Torque control mode This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

Pressure control mode This servo amplifier is used as a pressure control servo. Use a pressure control compatible controller.

High-resolution encoder High-resolution encoder of 4194304 pulses/rev is used for the encoder of the rotary servo motor compatible with the MELSERVO-J4 series.

Absolute position detection system

Setting a home position once makes home position return unnecessary at every power-on.

MR-J4-_B_ Chapter 12

Gain switching function You can switch gains during rotation/stop, and can use input devices to switch gains during operation.

MR-J4-_B_ Section 7.2

Advanced vibration suppression control II

This function suppresses vibration and residual vibration at an arm end. This cannot be used in the pressure control mode. When using the pressure control mode, do not set the vibration suppression control tuning mode to automatic setting with [Pr. PB02].

MR-J4-_B_ Section 7.1.5

Machine resonance suppression filter

This filter function (notch filter) decreases the gain of the specific frequency to suppress the resonance of the mechanical system.


Shaft resonance suppression filter

When a load is mounted to the servo motor shaft, resonance by shaft torsion during driving may generate a mechanical vibration at high frequency. The shaft resonance suppression filter suppresses the vibration.


Adaptive filter II

The servo amplifier detects mechanical resonance and sets filter characteristics automatically to suppress mechanical vibration. This cannot be used in the pressure control mode. When using the pressure control mode, do not set the filter tuning mode selection to automatic setting with [Pr. PB01].


Low-pass filter Suppresses high-frequency resonance which occurs as the servo system response is increased.


Machine analyzer function

Analyzes the frequency characteristic of the mechanical system by simply connecting an MR Configurator2 installed personal computer and the servo amplifier. MR Configurator2 is necessary for this function. This cannot be used in the pressure control mode.

Robust filter Improves a disturbance response when a response performance cannot be increased because of a large load to motor inertia ratio, such as a roll feed axis.

[Pr. PE41]

Slight vibration suppression control

Suppresses vibration of ±1 pulse generated at a servo motor stop. This cannot be used in the pressure control mode.

[Pr. PB24]

Auto tuning Automatically adjusts the gain to optimum value if load applied to the servo motor shaft varies. This cannot be used in the pressure control mode.


Brake unit Used when the regenerative option cannot provide enough regenerative power.

MR-J4-_B_ Section 11.3 MR-J4-_DU_ Section 9.10

Power regeneration converter Used when the regenerative option cannot provide enough regenerative power. MR-J4-_B_ Section 11.4


1 - 16


explanation

Regenerative option Use a regenerative option when the built-in regenerative resistor of the servo amplifier does not have sufficient regenerative capacity for a large regenerative power generated.

MR-J4-_B_ Section 11.2 MR-J4-_DU_ Section 9.2

Alarm history clear Clears alarm histories. [Pr. PC21]

Output signal selection (device settings)

The output devices including ALM (Malfunction) and DB (Dynamic brake interlock) can be assigned to certain pins of the CN3 connector.

[Pr. PD07] [Pr. PD08]

Output signal (DO) forced output

Turns on/off the output signals forcibly independently of the servo status. Use this function for checking output signal wiring, etc.

MR-J4-_B_ Section 4.5.1 (1) (d)

Test operation mode Jog operation, positioning operation, motor-less operation, DO forced output, and program operation can be used. MR Configurator2 is necessary for this function. Refer to section 6.1 for restrictions when using in the pressure control mode.


Analog monitor output Outputs servo status with voltage in real time. [Pr. PC09], [Pr. PC10]

MR Configurator2 Using a personal computer, you can perform the parameter setting, test operation, monitoring, and others. Refer to section 6.1 for restrictions when using in the pressure control mode.

Section 6.1

Linear servo system This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

Direct drive servo system This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

Fully closed loop system This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

One-touch tuning Gain adjustment is performed just by one click on MR Configurator2. MR Configurator2 is necessary for this function. This cannot be used in the pressure control mode.


SEMI-F47 function (Note)

Enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. Use a 3-phase for the input power supply of the servo amplifier. Using a 1-phase 100 V AC/200 V AC for the input power supply will not comply with SEMI-F47 standard.

[Pr. PA20] [Pr. PF25] MR-J4-_B_ Section 7.4

Tough drive function

This function makes the equipment continue operating even under the condition that an alarm occurs. The tough drive function includes two types: the vibration tough drive and the instantaneous power failure tough drive. The vibration tough drive cannot be used in the pressure control mode.


Drive recorder function

This function continuously monitors the servo status and records the status transition before and after an alarm for a fixed period of time. You can check the recorded data by clicking "Display" under the Waveform column on the drive recorder window on MR Configurator2. However, the drive recorder is not available when: 1. You are using the graph function of MR Configurator2. 2. You are using the machine analyzer function. 3. [Pr. PF21] is set to "-1". 4. The controller is not connected (except the test operation mode). 5. An alarm related to the controller is occurring.

[Pr. PA23]

STO function This function is a functional safety that complies with IEC/EN 61800-5-2. You can create a safety system for the equipment easily.

Servo amplifier life diagnosis function

You can check the cumulative energization time and the number of on/off times of the inrush relay. This function gives an indication of the replacement time for parts of the servo amplifier including a capacitor and a relay before they malfunction. MR Configurator2 is necessary for this function.

Power monitoring function

This function calculates the power running energy and the regenerative power from the data in the servo amplifier such as speed and current. Power consumption and others are displayed on MR Configurator2. In the SSCNET III/H system, the data are sent to a servo system controller for analyzing and displaying the power consumption on a display.

Machine diagnosis function

From the data in the servo amplifier, this function estimates the friction and vibrational component of the drive system in the equipment and recognizes an error in the machine parts, including a ball screw and bearing. MR Configurator2 is necessary for this function. This cannot be used in the pressure control mode.


1 - 17


explanation

Master-slave operation function

This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

Scale measurement function This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

J3 compatibility mode

This is not available with the MR-J4-(DU)_B_-LL servo amplifier. Do not change the mode by using the application software "MR-J4(W)-B mode selection". An error appears when the mode is changed to other than the J4 mode (standard control (rotary servo motor)).

Continuous operation to torque control mode

This is not available with the MR-J4-(DU)_B_-LL servo amplifier.

Lost motion compensation function

This function improves the response delay occurred when the machine moving direction is reversed. This is available with servo amplifiers with software version B4 or later. Check the software version with MR Configurator2. This cannot be used in the pressure control mode.


Super trace control This is not available with the MR-J4-(DU)_B_-LL servo amplifier. Note. For servo system controllers which are available with this, contact your local sales office.


1 - 18

1.7 Model designation

(1) Rating plate The following shows an example of rating plate for explanation of each item.

TOKYO 100-8310, JAPAN MADE IN JAPAN

ModelCapacityApplicable power supplyRated output currentStandard, Manual numberAmbient temperatureIP rating

KC certification number, The year and month of manufacture

Serial number

Country of origin

IP20KCC-REI-MEK-TC300A624G51

Max. Surrounding Air Temp.: 55°C

POWER :100WMR-J4-10B-LL

AC SERVOSER.A45001001

OUTPUT: 3PH170V 0-360Hz 1.1AMAN.: IB(NA)0300175

INPUT : 3AC/AC200-240V 0.9A/1.5A 50/60Hz

STD.: IEC/EN 61800-5-1

DATE:2014-05

MODEL

(2) Model The following describes what each block of a model name indicates. Not all combinations of the symbols are available.

(a) Servo amplifier

Series

Rated output

SSCNET III/H interface

Symbol Rated output [kW]

10 0.1

20 0.2

40 0.4

60 0.6

70 0.75

100 1

200 2

350 3.5

500 5

700 7

11K 11

15K 15

22K 22

Power supply

Symbol Power supply

None 3-phase or 1-phase200 V AC to 240 V AC

4 3-phase 380 V AC to 480 V AC


Special specifications

Symbol Special specifications

MR-J4-_B_-LL without regenerative resistor (Note)-RN

Pressure control type-LL

Note. Indicates a servo amplifier of 11 kW to 22 kW that does not use a regenerative resistor as standard accessory.

When using any of these servo amplifiers, always use the MR-RB5R, MR-RB9F, MR-RB9T, MR-RB5K-4, or MR-

RB6K-4 regenerative option.


1 - 19

(b) Converter unit

Series

Rated output: 55 kW



Power supply

Symbol

None

Power supply

(c) Drive unit

37K

Symbol Power supply

Series

None 3-phase 200 V AC to 240 V AC


Symbol Rated output [kW]30K

Rated output

37

Power supply

SSCNET III/H interface

45K 4555K 55

30

Indicates drive unit

Symbol Special specifications

-LL Pressure control type

Special specifications


1 - 20

MEMO

2. SIGNALS AND WIRING

2 - 1


WARNING

Any person who is involved in wiring should be fully competent to do the work.

Before wiring, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (between L+ and L- for converter unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.

Ground the servo amplifier and servo motor securely.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock.

The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock.

To avoid an electric shock, insulate the connections of the power supply terminals.

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury.

Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.

Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

DOCOM


Servo amplifier

RA

For sink output interface

24 V DC

DOCOM


24 V DCServo amplifier

RA

For source output interface

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier.

Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(-H)) with the power line of the servo motor.

When using a regenerative resistor, shut the power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire.

Do not modify the equipment.

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.


2 - 2

CAUTION

Connect the servo amplifier power outputs (U, V, and W) to the servo motor power inputs (U, V, and W) directly. Do not connect a magnetic contactor and others between them.

U

Servo motor

MV

W

U

V

W

U

MV

W

U

V

W

Servo amplifier Servo motorServo amplifier

The following items are the same as those for MR-J4-_B_. Refer to the section of the detailed explanation field for details. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Servo Amplifier Instruction Manual".


Explanation of power supply system MR-J4-_B_ section 3.3


Forced stop deceleration function MR-J4-_B_ section 3.6

Alarm occurrence timing chart MR-J4-_B_ section 3.7


SSCNET III cable connection MR-J4-_B_ section 3.9

Servo motor with an electromagnetic brake MR-J4-_B_ section 3.10

Grounding MR-J4-_B_ section 3.11 MR-J4-_DU_ section 3.7

2.1 Input power supply circuit

CAUTION ALM (Malfunction) is not assigned by default. Create a circuit that shuts off the main circuit by being interlocked with an alarm detected by the controller.

POINT

When assigning ALM (Malfunction) to the CN3-9 pin, set [Pr. PD08] to "0003".

Items not mentioned in this section are the same as those for MR-J4-_B_ servo amplifier. Refer to section 3.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".

Configure the wiring so that the main circuit power supply is shut off and the servo-on command is turned off after deceleration to a stop due to an alarm occurrence, an enabled servo forced stop, or an enabled controller forced stop. A molded-case circuit breaker (MCCB) must be used with the input cables of the main circuit power supply. ALM (Malfunction) is not assigned by default. Create a circuit that shuts off the main circuit by being interlocked with an alarm detected by the controller. When assigning ALM (Malfunction) to the CN3-9 pin, set [Pr. PD08] to "0003".


2 - 3

2.2 I/O signal connection example

CAUTION ALM (Malfunction) is not assigned by default. Create a circuit that shuts off the main circuit by being interlocked with an alarm detected by the controller.

POINT

When assigning ALM (Malfunction) to the CN3-9 pin, set [Pr. PD08] to "0003".

In the pressure control mode, EM2 functions the same as EM1.

2.2.1 For sink I/O interface

20EM2

(Note 12)

Servo amplifier

15AD0

CN3(Note 12)

(Note 13)

CN3

Electromagnetic brake interlock13 MBR

9 INP In-position (Note 11)

RA1

RA2

DOCOM

DICOM

3

10

5DICOM

(Note 14)Main circuit power supply

Personalcomputer

CN5

(Note 5)MR Configurator2

+

USB cableMR-J3USBCBL3M

(option)

(Note 10) 24 V DC

Analog monitor 1

DC ± 10 V

Analog monitor 2

DC ± 10 V

MO1

LG

MO2

4

1

14

SDPlate

2 m or less

CN8(Note 15)Short-circuit connector(Packed with the servo amplifier)

10 m or less10 m or less

2 m or less

Servo amplifier

(Note 3, 4)Forced stop 2

(Note 6)SSCNET III cable

(option)

Servo systemcontroller

CN1A

CN1B

(Note 7)

(Note 1)(Note 9)Cap

CN1A

CN1B

The last servo amplifier (Note 8)

CN1BCN1A

(Note 6)SSCNET III cable(option)

(Note 7)

24 V DC (Note 10)

(Note 2)

11LG

19AD1

12AD2

SD Plate

Analog monitor input 1± 10 V


Pressure feedback+ 10 V


2 - 4

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the

protective earth (PE) of the cabinet.

2. Connect the diode in the correct direction. If it is connected reversely, the servo amplifier will malfunction and will not output

signals, disabling EM2 (Forced stop 2) and other protective circuits.

3. If the controller does not have forced stop function, always install the forced stop 2 switch (normally closed contact).

4. When starting operation, always turn on EM2 (Forced stop 2). (Normally closed contact)

5. Use SW1DNC MRC2-_. (Refer to section 6.1.)

6. Use SSCNET III cables listed in the following table.

Cable Cable model Cable length

Standard cord inside cabinet

MR-J3BUS_M 0.15 m to 3 m

Standard cable outside cabinet

MR-J3BUS_M-A 5 m to 20 m

Long-distance cable MR-J3BUS_M-B 30 m to 50 m

7. The wiring after the second servo amplifier is omitted.

8. Up to 64 axes of servo amplifiers can be connected. The number of connectable axes depends on the controller you use.

Refer to section 4.3.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" for setting of axis selection.

9. Make sure to cap the unused CN1B connector.

10. Supply 24 V DC ± 10% to interfaces from outside. The total current capacity of these power supplies must be 300 mA or lower.

300 mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number

of I/O points. Refer to section 3.8.2 (1) of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" that gives the current value

necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output signal for

convenience. However, they can be configured by one.

11. ALM (Malfunction) is not assigned by default. Create a circuit that shuts off the main circuit by being interlocked with an alarm

detected by the controller. When assigning ALM (Malfunction) to the CN3-9 pin, set [Pr. PD08] to "0003". ALM (Malfunction)

turns on in normal alarm-free condition. (Normally closed contact)

12. The pins with the same signal name are connected in the servo amplifier.

13. You can change devices of these pins with [Pr. PD07] and [Pr. PD08].

14. Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the servo

amplifier.

15. When not using the STO function, attach the short-circuit connector came with a servo amplifier.


2 - 5

2.2.2 For source I/O interface

POINT

For notes, refer to section 2.2.1.

(Note 12)

Servo amplifier

CN3(Note 12)

(Note 13)

CN3

Electromagnetic brake interlock

In-position (Note 11)

(Note 14)Main circuit power supply

Personalcomputer

CN5

(Note 5)MR Configurator2

+

USB cableMR-J3USBCBL3M

(option)

(Note 10) 24 V DC

Analog monitor 1

DC ± 10 V

Analog monitor 2

DC ± 10 V

2 m or less

CN8(Note 15)Short-circuit connector(Packed with the servo amplifier)

10 m or less

2 m or less

(Note 3, 4)Forced stop 2

(Note 6)SSCNET III cable

(option)

Servo systemcontroller

CN1A

CN1B

(Note 7)

(Note 1)

(Note 9)Cap

CN1A

CN1B

The last servo amplifier (Note 8)

(Note 6)SSCNET III cable(option)

(Note 7)

24 V DC (Note 10)

(Note 2)




10

10 m or less

20EM2

13 MBR

9 INP

RA1

RA2

5DICOM

DICOM

+

MO1

LG

MO2

4

1

14

SDPlate

Servo amplifier

CN1BCN1A

3 DOCOM

15AD0

11LG

19AD1

12AD2

SD Plate


2 - 6

2.3 Connectors and pin assignment

POINT

The pin assignment of the connectors is as viewed from the cable connector wiring section.

For the STO I/O signal connector (CN8), refer to chapter 13 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

For the CN3 connector, securely connect the shielded external conductor of the cable to the ground plate and fix it to the connector shell.

Screw

Screw

Ground plate

Cable

The servo amplifier front view shown is that of the MR-J4-20B-LL or less. For external appearance and connector arrangements of other servo amplifiers, refer to chapter 9 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and chapter 7 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".

CN5 (USB connector)Refer to section 6.1.

CN3

The frames of the CN2 and CN3connectors are connected to theprotective earth terminal in theservo amplifier.

CN1AConnector for SSCNET IIIcable for previous servoamplifier axis

CN1BConnector for SSCNET IIIcable for next servoamplifier axis

CN4(Battery connector)Refer to section 11.8 of"MR-J4-_B(-RJ) ServoAmplifier Instruction Manual".

1

2

3

5

4

6

7

9

8

10

11

12

13

14

15

16

17

18

19

20

MO1

DICOM

LG

DOCOM

DICOM

AD2

MO2

EM2

LG

MBR

AD0

AD1INP

4MRR

2LG 8

6

1P5

5

10

3MR

79

BAT

MXR

MX

CN2

For the STO I/O signalconnector, refer to section13.2 of "MR-J4-_B_(-RJ)Servo Amplifier InstructionManual".

CN8

THM2

THM1


2 - 7

2.4 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 2.5.2. The pin Nos. in the connector pin No. column are assigned by default. 2.4.1 Input device

POINT

In the pressure control mode, EM2 functions the same as EM1.

Device Symbol Connector

pin No. Function and application

I/O division

Forced stop 2 EM2 CN3-20

Turn off EM2 (open between commons) to decelerate the servo motor to a stop with commands. Turn EM2 on (short between commons) in the forced stop state to reset that state. Set [Pr. PA04] to "2 1 _ _" to disable EM2. The following shows the setting of [Pr. PA04].

DI-1

[Pr. PA04] setting

EM2/EM1 Deceleration method

EM2 or EM1 is off Alarm occurred

0 0 _ _ EM1

MBR (Electromagnetic brake interlock) turns off without the forced stop deceleration.


2 0 _ _ EM2

MBR (Electromagnetic brake interlock) turns off after the forced stop deceleration.


0 1 _ _ Not using EM2 or EM1


2 1 _ _ Not using EM2 or EM1


EM2 and EM1 are mutually exclusive. In the pressure control mode, EM2 functions the same as EM1, and thus the forced stop deceleration is not executed.

Forced stop 1 EM1 (CN3-20)

When using EM1, set [Pr. PA04] to "0 0 _ _" to enable EM1. When EM1 is turned off (open between commons), the base circuit shuts off, and the dynamic brake operates to decelerate the servo motor to a stop. The forced stop will be reset when EM1 is turned on (short between commons). Set [Pr. PA04] to "0 1 _ _" to disable EM1.

DI-1


2 - 8

2.4.2 Output device

(1) Output device pin The following shows the output device pins and parameters for assigning devices.

Connector pin No. Parameter Initial device I/O division

CN3-13 [Pr. PD07] MBR DO-1

CN3-9 [Pr. PD08] INP

(2) Output device explanations

Device Symbol Function and application

Electromagnetic brake interlock

MBR When using the device, set operation delay time of the electromagnetic brake in [Pr. PC02]. When a servo-off status or alarm occurs, MBR will turn off.

Malfunction ALM When using the signal, enable it by setting [Pr. PD07] and [Pr. PD08]. When the protective circuit is activated to shut off the base circuit, ALM will turn off. When an alarm does not occur, ALM will turn on in 2.5 s to 3.5 s after power-on.

In-position INP When the number of droop pulses is in the in-position range, INP will turn on. The in-position range can be changed with [Pr. PA10]. When the in-position range is increased, INP may be always on during low-speed rotation. The device cannot be used in the speed control mode and the pressure control mode.

Dynamic brake interlock

DB When using the signal, enable it by setting [Pr. PD07] and [Pr. PD08]. When the dynamic brake needs to operate, DB will turn off. When using the external dynamic brake with the servo amplifier of 11 kW or more, this device is required. (Refer to section 11.17 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and section 9.3 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".) For the servo amplifier of 7 kW or less, it is not necessary to use this device. The external dynamic brake cannot be used with 11 kW or more servo amplifier for compliance with SEMI-F47 standard. Do not assign DB (Dynamic brake interlock) in [Pr. PD07] to [Pr. PD08]. Doing so will cause the servo amplifier to become servo-off when an instantaneous power failure occurs.

Ready RD When using the signal, enable it by setting [Pr. PD07] and [Pr. PD08]. When the servo-on is enabled and the servo amplifier is ready to operate, RD will turn on.

Speed reached SA When using the signal, enable it by setting [Pr. PD07] and [Pr. PD08]. SA will turn off during servo-off. When the servo motor speed reaches the following range, SA will turn on. Set speed ± ((Set speed × 0.05) + 20) r/min When the preset speed is 20 r/min or less, SA always turns on. The device cannot be used in the position control mode and the pressure control mode.


2 - 9

Device Symbol Function and application

Zero speed detection ZSP ZSP turns on when the servo motor speed is zero speed or less. Zero speed can be changed with [Pr. PC07].

OFF

ON

Servo motorspeed

20 r/min(Hysteresis width)

[Pr. PC07]

20 r/min(Hysteresis width)

OFF level-70 r/min

ON level-50 r/min

ON level50 r/min

OFF level70 r/min

0 r/min

[Pr. PC07]

ZSP(Zero speeddetection)

1)3)

2)

4)

Forwardrotationdirection

Reverserotationdirection

ZSP will turn on when the servo motor is decelerated to 50 r/min (at 1)), and will turn off when the servo motor is accelerated to 70 r/min again (at 2)). ZSP will turn on when the servo motor is decelerated again to 50 r/min (at 3)), and will turn off when the servo motor speed has reached -70 r/min (at 4)). The range from the point when the servo motor speed has reached the on-level, and ZSP turns on, to the point when it is accelerated again and has reached the off-level is called hysteresis width. Hysteresis width is 20 r/min for this servo amplifier.

Limiting torque TLC When the torque reaches the torque limit value during torque generation, TLC will turn on. When the servo is off, TLC will turn off.

Warning WNG When a warning occurs, WNG will turn on. When a warning is not occurring, turning on the power will turn off WNG after 2.5 s to 3.5 s.

Battery warning BWNG BWNG turns on when [AL. 92 Battery cable disconnection warning] or [AL. 9F Battery warning] has occurred. When the battery warning is not occurring, turning on the power will turn off BWNG after 2.5 s to 3.5 s.

Variable gain selection

CDPS CDPS will turn on during variable gain.

Absolute position undetermined

ABSV ABSV turns on when the absolute position is undetermined. This device cannot be used in the speed control mode.

During tough drive MTTR When a tough drive is enabled in [Pr. PA20], activating the instantaneous power failure tough drive will turn on MTTR.


2 - 10

2.4.3 Input signal

Signal name Symbol Connector


I/O division

Pressure feedback AD0 CN3-15 Input pressure feedback of the load cell for pressure control. Apply 0 V DC to +10 V DC between AD0 and LG. The pressure feedback value set in [Pr. PT22] will be applied at +10 V. Resolution: 16 bits/±11 V

Analog input

Analog monitor input 1

AD1 CN3-19 Input the analog input signal for monitoring. Data is sent to the servo system controller and checked. Apply 0 V DC to ±10 V DC between AD1 and LG. The monitor value set in [Pr. PT24] will be applied at +10 V. Resolution: 16 bits/±11 V

Analog input

Analog monitor input 2

AD2 CN3-12 Input the analog input signal for monitoring. Data is sent to the servo system controller and checked. Apply 0 V DC to ±10 V DC between AD2 and LG. The monitor value set in [Pr. PT26] will be applied at +10 V. Resolution: 16 bits/±11 V

Analog input

2.4.4 Output signal



I/O division

Analog monitor 1 MO1 CN3-4 This signal outputs the data set in [Pr. PC09] to between MO1 and LG in terms of voltage. Resolution: 10 bits or equivalent

Analog output

Analog monitor 2 MO2 CN3-14 This signal outputs the data set in [Pr. PC10] to between MO2 and LG in terms of voltage. Resolution: 10 bits or equivalent

Analog output

2.4.5 Power supply



Digital I/F power supply input

DICOM CN3-5 CN3-10

Input 24 V DC (24 V DC ± 10% 300 mA) for I/O interface. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect + of the 24 V DC external power supply. For source interface, connect - of the 24 V DC external power supply.

Digital I/F common DOCOM CN3-3 Common terminal of input signal such as EM2 of the servo amplifier. This is separated from LG. For sink interface, connect - of the 24 V DC external power supply. For source interface, connect + of the 24 V DC external power supply.

Monitor common LG CN3-1 CN3-11

Common terminal of AD0, AD1, AD2, MO1, and MO2. Pins are connected internally.

Shield SD Plate Connect the external conductor of the shielded wire.


2 - 11

2.5 Interfaces

2.5.1 Internal connection diagram

POINT

For the CN8 connector, refer to section 13.3.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

±10 V DC

±10 V DC

Approx.6.2 kΩ

Encoder

3

2

4

7

8MR

MRR

MX

MXR

LG

PE

Servo motor

M

CN2

CN3

MO1

MO2

LG

4

14

1

Analog monitor

EM2

CN3

CN3

20

DICOM 5

10

CN3

3

13

9

DOCOM

(Note 1)INP

Servo amplifier

USB D+

GND

D- 2

3

5

CN5

MBR

DICOM

Forced stop 2

(Note 2) RA

RA

Isolated

(Note 3)24 V DC

(Note 3)24 V DC

AD0 15

LG 11

AD1 19

AD2 12




(Note 2)

Note 1. The signal cannot be used in the speed control mode and the pressure control mode.

2. This diagram shows sink I/O interface. For source I/O interface, refer to section 2.5.3.

3. The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they

can be configured by one.


2 - 12

2.5.2 Detailed explanation of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in section 2.4. Refer to this section and make connection with the external device. (1) Digital input interface DI-1

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink (open-collector) type transistor output, relay switch, etc. The following is a connection diagram for sink input. Refer to section 2.5.3 for source input.

VCES ≤ 1.0 VICEO ≤ 100 A

TR

Approx. 6.2 kΩ

Approx. 5 mA

24 V DC ± 10%300 mA

Switch

For transistorEM2,etc.

Servo amplifier

DICOM

(2) Digital output interface DO-1 This is a circuit in which the collector of the output transistor is the output terminal. When the output transistor is turned on, the current will flow to the collector terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40 mA or less, maximum current: 50 mA or less, inrush current: 100 mA or less) A maximum of 2.6 V voltage drop occurs in the servo amplifier. The following shows a connection diagram for sink output. Refer to section 2.5.3 for source output.

(Note) 24 V DC ± 10%300 mA

If polarity of diode isreversed, servo amplifierwill malfunction.

Servo amplifier

ALM,etc.

Load

DOCOM

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.


2 - 13

(3) Analog input

AD0, etc.

LG

SD

Servo amplifier

Approx.11 kΩ

Input voltage: ± 10 V

(4) Analog output

LG

MO1(MO2)

Servo amplifier

Output voltage: ±10 V (Note)Maximum output current: 1 mAResolution: 10 bits or equivalent

Note. Output voltage range varies depending on the output contents.


2 - 14

2.5.3 Source I/O interfaces

In this servo amplifier, source type I/O interfaces can be used. (1) Digital input interface DI-1

This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from source (open-collector) type transistor output, relay switch, etc.

TR

VCES ≤ 1.0 VICEO ≤ 100 A

Approx. 6.2 kΩ

Approx. 5 mA 24 V DC ± 10%300 mA

Switch

For transistorEM2,etc.

Servo amplifier

DICOM

(2) Digital output interface DO-1 This is a circuit in which the emitter of the output transistor is the output terminal. When the output transistor is turned on, the current will flow from the output terminal to a load. A maximum of 2.6 V voltage drop occurs in the servo amplifier.

ALM,etc.

(Note) 24 V DC ± 10%300 mA

If polarity of diode isreversed, servo amplifierwill malfunction.

Servo amplifier

Load

DOCOM

Note. If the voltage drop (maximum of 2.6 V) interferes with the relay operation, apply high

voltage (maximum of 26.4 V) from external source.

3. PARAMETERS

3 - 1

3. PARAMETERS

CAUTION

Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

If fixed values are written in the digits of a parameter, do not change these values.

Do not change parameters for manufacturer setting.

Do not set any values other than the described setting values to each parameter.

POINT

When you connect the servo amplifier to a servo system controller, servo parameter values of the servo system controller will be written to each parameter.

Setting may not be made to some parameters and their ranges depending on the servo system controller model, servo amplifier software version, and MR Configurator2 software version. For details, refer to the servo system controller user's manual. Check the software version of the servo amplifier with MR Configurator2.

3.1 Parameter list

POINT

The parameter whose symbol is preceded by * is enabled with the following conditions: *: After setting the parameter, cycle the power or reset the controller. **: After setting the parameter, cycle the power.

For servo amplifier with software version B3 or later, the parameter initial values for the manufacturer setting are partially changed.

3. PARAMETERS

3 - 2

3.1.1 Basic setting parameters ([Pr. PA_ _ ])

No. Symbol Name Initial value

Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PA01 For manufacturer setting 1000h

PA02 **REG Regenerative option 0000h PA03 *ABS Absolute position detection system 0000h PA04 *AOP1 Function selection A-1 2000h PA05 For manufacturer setting 10000

PA06 1

PA07 1

PA08 ATU Auto tuning mode 0001h

PA09 RSP Auto tuning response 16

PA10 INP In-position range 1600 [pulse]

PA11 For manufacturer setting 1000.0

PA12 1000.0

PA13 0000h

PA14 *POL Rotation direction selection 0 PA15 For manufacturer setting 4000

PA16 1

PA17 0000h

PA18 0000h

PA19 *BLK Parameter writing inhibit 00ABh PA20 *TDS Tough drive setting 0000h

PA21 *AOP3 Function selection A-3 0001h

PA22 For manufacturer setting 0000h

PA23 DRAT Drive recorder arbitrary alarm trigger setting 0000h PA24 AOP4 Function selection A-4 0000h

PA25 OTHOV One-touch tuning - Overshoot permissible level 0 [%]

PA26 *AOP5 Function selection A-5 0000h PA27 For manufacturer setting 0000h

PA28 0000h

PA29 0000h

PA30 0000h

PA31 0000h

PA32 0000h

3. PARAMETERS

3 - 3

3.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PB01 FILT Adaptive tuning mode (adaptive filter II) 0000h

PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)

0000h

PB03 For manufacturer setting 18000

PB04 FFC Feed forward gain 0 [%]


PB06 GD2 Load to motor inertia ratio 7.00 [Multiplier]

PB07 PG1 Model loop gain 15.0 [rad/s]

PB08 PG2 Position loop gain 37.0 [rad/s]

PB09 VG2 Speed loop gain 823 [rad/s] PB10 VIC Speed integral compensation 33.7 [ms] PB11 VDC Speed differential compensation 980 PB12 OVA Overshoot amount compensation 0 [%]

PB13 NH1 Machine resonance suppression filter 1 4500 [Hz] PB14 NHQ1 Notch shape selection 1 0000h PB15 NH2 Machine resonance suppression filter 2 4500 [Hz] PB16 NHQ2 Notch shape selection 2 0000h PB17 NHF Shaft resonance suppression filter 0000h PB18 LPF Low-pass filter setting 3141 [rad/s] PB19 VRF11 Vibration suppression control 1 - Vibration frequency 100.0 [Hz]

PB20 VRF12 Vibration suppression control 1 - Resonance frequency 100.0 [Hz]

PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0.00

PB22 VRF14 Vibration suppression control 1 - Resonance frequency damping 0.00

PB23 VFBF Low-pass filter selection 0000h PB24 *MVS Slight vibration suppression control 0000h

PB25 *BOP1 Function selection B-1 0000h

PB26 *CDP Gain switching function 0000h

PB27 CDL Gain switching condition 10 [kpulse/s]/ [pulse]/ [r/min]

PB28 CDT Gain switching time constant 1 [ms]

PB29 GD2B Load to motor inertia ratio after gain switching 7.00 [Multiplier]

PB30 PG2B Position loop gain after gain switching 0.0 [rad/s]

PB31 VG2B Speed loop gain after gain switching 0 [rad/s]

PB32 VICB Speed integral compensation after gain switching 0.0 [ms]

PB33 VRF11B Vibration suppression control 1 - Vibration frequency after gain switching 0.0 [Hz]

PB34 VRF12B Vibration suppression control 1 - Resonance frequency after gain switching

0.0 [Hz]

PB35 VRF13B Vibration suppression control 1 - Vibration frequency damping after gain switching

0.00

PB36 VRF14B Vibration suppression control 1 - Resonance frequency damping after gain switching

0.00


PB38 0.00

PB39 0.00

PB40 0.00

PB41 0

PB42 0

PB43 0000h

PB44 0.00

PB45 CNHF Command notch filter 0000h

3. PARAMETERS

3 - 4


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PB46 NH3 Machine resonance suppression filter 3 4500 [Hz] PB47 NHQ3 Notch shape selection 3 0000h PB48 NH4 Machine resonance suppression filter 4 4500 [Hz] PB49 NHQ4 Notch shape selection 4 0000h PB50 NH5 Machine resonance suppression filter 5 4500 [Hz] PB51 NHQ5 Notch shape selection 5 0000h PB52 VRF21 Vibration suppression control 2 - Vibration frequency 100.0 [Hz]

PB53 VRF22 Vibration suppression control 2 - Resonance frequency 100.0 [Hz]

PB54 VRF23 Vibration suppression control 2 - Vibration frequency damping 0.00

PB55 VRF24 Vibration suppression control 2 - Resonance frequency damping 0.00

PB56 VRF21B Vibration suppression control 2 - Vibration frequency after gain switching 0.0 [Hz]

PB57 VRF22B Vibration suppression control 2 - Resonance frequency after gain switching

0.0 [Hz]

PB58 VRF23B Vibration suppression control 2 - Vibration frequency damping after gain switching

0.00

PB59 VRF24B Vibration suppression control 2 - Resonance frequency damping after gain switching

0.00

PB60 PG1B Model loop gain after gain switching 0.0 [rad/s]

PB61 For manufacturer setting 0.0

PB62 0000h

PB63 0000h

PB64 0000h

3.1.3 Extension setting parameters ([Pr. PC_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PC01 ERZ Error excessive alarm level 0 [rev]

PC02 MBR Electromagnetic brake sequence output 0 [ms] PC03 For manufacturer setting 0000h

PC04 **COP1 Function selection C-1 0000h PC05 **COP2 Function selection C-2 0000h

PC06 *COP3 Function selection C-3 0000h

PC07 ZSP Zero speed 50 [r/min] PC08 OSL Overspeed alarm detection level 0 [r/min] PC09 MOD1 Analog monitor 1 output 0000h PC10 MOD2 Analog monitor 2 output 0001h PC11 MO1 Analog monitor 1 offset 0 [mV] PC12 MO2 Analog monitor 2 offset 0 [mV] PC13 For manufacturer setting 0

PC14 0

PC15 0

PC16 0000h

PC17 **COP4 Function selection C-4 0000h PC18 *COP5 Function selection C-5 0000h PC19 For manufacturer setting 0000h

PC20 *COP7 Function selection C-7 0000h PC21 *BPS Alarm history clear 0000h PC22 For manufacturer setting 0

PC23 0000h

PC24 RSBR Forced stop deceleration time constant 100 [ms]

3. PARAMETERS

3 - 5


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PC25 For manufacturer setting 0

PC26 0000h

PC27 0000h

PC28 0000h

PC29 0000h

PC30 For manufacturer setting 0

PC31 RSUP1 Vertical axis freefall prevention compensation amount 0 [0.0001rev]

PC32 For manufacturer setting 0000h

PC33 0

PC34 100

PC35 0000h

PC36 0000h

PC37 0000h

PC38 ERW Error excessive warning level 0 [rev]

PC39 For manufacturer setting 0000h

PC40 0000h

PC41 0000h

PC42 0000h

PC43 0000h

PC44 0000h

PC45 0000h

PC46 0000h

PC47 0000h

PC48 0000h

PC49 0000h

PC50 0000h

PC51 0000h

PC52 0000h

PC53 0000h

PC54 0000h

PC55 0000h

PC56 0000h

PC57 0000h

PC58 0000h

PC59 0000h

PC60 0000h

PC61 0000h

PC62 0000h

PC63 0000h

PC64 0000h

3. PARAMETERS

3 - 6

3.1.4 I/O setting parameters ([Pr. PD_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PD01 For manufacturer setting 0000h

PD02 *DIA2 Input signal automatic on selection 2 0000h PD03 For manufacturer setting 0020h

PD04 0021h

PD05 0022h

PD06 0000h

PD07 *DO1 Output device selection 1 0005h PD08 *DO2 Output device selection 2 0004h PD09 For manufacturer setting 0003h

PD10 0000h

PD11 0004h

PD12 0000h

PD13 0000h

PD14 *DOP3 Function selection D-3 0000h PD15 For manufacturer setting 0000h

PD16 0000h

PD17 0000h

PD18 0000h

PD19 0000h

PD20 0

PD21 0

PD22 0

PD23 0

PD24 0000h

PD25 0000h

PD26 0000h

PD27 0000h

PD28 0000h

PD29 0000h

PD30 0

PD31 0

PD32 0

PD33 0000h

PD34 0000h

PD35 0000h

PD36 0000h

PD37 0000h

PD38 0000h

PD39 0000h

PD40 0000h

PD41 0000h

PD42 0000h

PD43 0000h

PD44 0000h

PD45 0000h

PD46 0000h

PD47 0000h

PD48 0000h

3. PARAMETERS

3 - 7

3.1.5 Extension setting 2 parameters ([Pr. PE_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PE01 For manufacturer setting 0000h

PE02 0000h

PE03 0003h

PE04 1

PE05 1

PE06 400

PE07 100

PE08 10

PE09 0000h

PE10 0000h

PE11 0000h

PE12 0000h

PE13 0000h

PE14 0111h

PE15 20

PE16 0000h

PE17 0000h

PE18 0000h

PE19 0000h

PE20 0000h

PE21 0000h

PE22 0000h

PE23 0000h

PE24 0000h

PE25 0000h

PE26 0000h

PE27 0000h

PE28 0000h

PE29 0000h

PE30 0000h

PE31 0000h

PE32 0000h

PE33 0000h

PE34 1

PE35 1

PE36 0.0

PE37 0.00

PE38 0.00

PE39 20

PE40 0000h

PE41 EOP3 Function selection E-3 0000h PE42 For manufacturer setting 0

PE43 0.0

PE44 LMCP Lost motion compensation positive-side compensation value selection 0 [0.01%]

PE45 LMCN Lost motion compensation negative-side compensation value selection 0 [0.01%]

PE46 LMFLT Lost motion filter setting 0 [0.1 ms]

PE47 TOF Torque offset 0 [0.01%] PE48 *LMOP Lost motion compensation function selection 0000h

PE49 LMCD Lost motion compensation timing 0 [0.1 ms]

PE50 LMCT Lost motion compensation non-sensitive band 0 [pulse]/ [kpulse]

3. PARAMETERS

3 - 8


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PE51 For manufacturer setting 0000h

PE52 0000h

PE53 0000h

PE54 0000h

PE55 0000h

PE56 0000h

PE57 0000h

PE58 0000h

PE59 0000h

PE60 0000h

PE61 0.00

PE62 0.00

PE63 0.00

PE64 0.00

3.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PF01 For manufacturer setting 0000h

PF02 0000h

PF03 0000h

PF04 0

PF05 0000h

PF06 *FOP5 Function selection F-5 0000h PF07 For manufacturer setting 0000h

PF08 0000h

PF09 0

PF10 0

PF11 0

PF12 DBT Electronic dynamic brake operating time 2000 [ms] PF13 For manufacturer setting 0000h

PF14 10

PF15 0000h

PF16 0000h

PF17 0000h

PF18 0000h

PF19 0000h

PF20 0000h

PF21 DRT Drive recorder switching time setting 0 [s] PF22 For manufacturer setting 200

PF23 OSCL1 Vibration tough drive - Oscillation detection level 50 [%]

PF24 *OSCL2 Vibration tough drive function selection 0000h

PF25 CVAT SEMI-F47 function - Instantaneous power failure detection time 200 [ms] PF26 For manufacturer setting 0

PF27 0

PF28 0

PF29 0000h

PF30 0

PF31 FRIC Machine diagnosis function - Friction judgment speed 0 [r/min]

3. PARAMETERS

3 - 9


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PF32 For manufacturer setting 50

PF33 0000h

PF34 0000h

PF35 0000h

PF36 0000h

PF37 0000h

PF38 0000h

PF39 0000h

PF40 0000h

PF41 0000h

PF42 0000h

PF43 0000h

PF44 0

PF45 0000h

PF46 0000h

PF47 0000h

PF48 0021h

3.1.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) are not used with MR-J4-(DU)_B_-LL servo amplifiers. Do not change from the default. The default values are the same as those for MR-J4-_B_ servo amplifiers. To check the default values, refer to section 5.1.7 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

3. PARAMETERS

3 - 10

3.1.8 Pressure control parameters ([Pr. PT_ _ ])


Unit

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

PT01 APA Pressure loop gain 800 PT02 AIA Pressure integral compensation 75 [ms] PT03 ADA Pressure incomplete integral coefficient 10000 PT04 For manufacturer setting 0

PT05 0.0

PT06 800

PT07 75

PT08 10000

PT09 800

PT10 75

PT11 10000

PT12 *TOP1 Function selection T-1 0000h PT13 *TOP2 Function selection T-2 0000h PT14 *TOP3 Function selection T-3 0000h PT15 For manufacturer setting 0000h

PT16 0000h

PT17 0

PT18 0

PT19 0

PT20 0000h

PT21 AFBO Pressure feedback offset 0 [mV] PT22 AFBD Pressure feedback unit constant 20000 [Command

unit]

PT23 AO1 Analog monitor input 1 offset 0 [mV] PT24 AD1 Analog monitor input 1 unit constant 20000 [Command

unit]

PT25 AO2 Analog monitor input 2 offset 0 [mV] PT26 AD2 Analog monitor input 2 unit constant 20000 [Command

unit]

PT27 ADF Analog monitor input filter setting 0000h PT28 For manufacturer setting 0

PT29 24.0

PT30 0

PT31 0000h

PT32 0000h

PT33 0000h

PT34 0000h

PT35 0000h

PT36 0000h

PT37 0000h

PT38 0000h

PT39 0000h

PT40 0000h

PT41 0000h

PT42 0000h

PT43 0000h

PT44 0000h

PT45 0000h

PT46 0000h

PT47 0000h

PT48 0000h

3. PARAMETERS

3 - 11

3.2 Detailed list of parameters

POINT

Items not mentioned in this section are the same as those for MR-J4-_B_ servo amplifier. Refer to section 5.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and section 5.2.2 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual". However, functions available with the MR-J4-_B_ servo amplifiers with software version C0 or later are not supported by the MR-J4-(DU)_B_-LL servo amplifiers.

Refer to "3.1 Parameter list" for the compatible control modes.

Parameters described as "For manufacturer setting" in "3.1 Parameter list" cannot be used.

Set a value to each "x" in the "Setting digit" columns.

3.2.1 Basic setting parameters ([Pr. PA_ _ ])

No. Symbol Name and function Initial value [unit]

Setting range

PA14 *POL Rotation direction selection Select the rotation direction of command input pulse.

0 0 to 1

Setting value

Servo motor rotation direction

Positioning address increase

Positioning address decrease

0 CCW CW

1 CW CCW

For the pressure control mode, the servo motor rotation direction and the pressure increasing direction are as follows with a combination of "Selection of pressure increasing direction for positioning address ( _ _ x _ )" in [Pr. PT12].

Parameter setting value

Positioning address increase Positioning address decrease

PT12

"_ _ x _" PA14 Pressure

Servo motor rotation direction

Pressure Servo motor

rotation direction

0

0 Decrease

CCW Increase

CW

1 CW CCW

1

0 Increase

CCW Decrease

CW

1 CW CCW

The following shows the servo motor rotation directions.

Forward rotation (CCW)

Reverse rotation (CW)

3. PARAMETERS

3 - 12


Setting range

PA20 *TDS Tough drive setting Alarms may not be avoided with the tough drive function depending on the situations of the power supply and load fluctuation. You can assign MTTR (During tough drive) to pins CN3-9 and CN3-13 with [Pr. PD07] and [Pr. PD08].

Refer to the Name and function column.

Setting digit

Explanation Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Vibration tough drive selection 0: Disabled 1: Enabled Selecting "1" enables to suppress vibrations by automatically changing the setting values of [Pr. PB13 Machine resonance suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] in case that the vibration exceeds the value of the oscillation level set in [Pr. PF23]. For details, refer to section 7.3 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". This cannot be used in the pressure control mode.

0h

_ x _ _ SEMI-F47 function selection 0: Disabled 1: Enabled Selecting "1" enables to avoid triggering [AL. 10 Undervoltage] using the electrical energy charged in the capacitor in case that an instantaneous power failure occurs during operation. The time until [AL. 10.1 Voltage drop in the control circuit power] occurs can be set with [Pr. PF25 SEMI-F47 function - Instantaneous power failure detection time].

0h

x _ _ _ For manufacturer setting 0h

3.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])

Details of Gain/filter setting parameters ([Pr. PB_ _ ]) are the same as those for MR-J4-_B_ servo amplifier. Refer to section 5.2.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

3. PARAMETERS

3 - 13

3.2.3 Extension setting parameters ([Pr. PC_ _ ])


Setting range

PC09 MOD1 Analog monitor 1 output Select a signal to output to MO1 (Analog monitor 1).


Setting digit


_ _ x x Analog monitor 1 output selection Refer to table 3.1 for settings.

00h

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

Table 3.1 Analog monitor setting value

Setting value

Item

Control mode

Pos

ition

Spe

ed

Pre

ssu

re

_ _ 00 Servo motor speed (±8 V/max. speed)

_ _ 01 Torque (±8 V/max. torque)

_ _ 02 Servo motor speed (+8 V/max. speed)

_ _ 03 Torque (+8 V/max. torque)

_ _ 04 Current command (±8 V/max. current command)

_ _ 05 Speed command (±8 V/max. speed)

_ _ 06 Servo motor-side droop pulses (±10 V/100 pulses) (Note 1)




_ _ 0A Feedback position (±10 V/1 Mpulse) (Note 1)

_ _ 0B Feedback position (±10 V/10 Mpulses) (Note 1)

_ _ 0C Feedback position (±10 V/100 Mpulses) (Note 1)

_ _ 0D Bus voltage (200 V class and 100 V class: +8 V/400 V, 400 V class: +8 V/800 V)

_ _ 0E Speed command 2 (±8 V/max. speed)

_ _ 17 Internal temperature of encoder (±10 V/±128 ˚C)

_ _ 1C Pressure command (±10 V/ [Pr. PT22] setting value)

_ _ 1D Pressure feedback (AD0 input voltage ±10 V) (Note 2)

_ _ 1E Analog monitor input 1 (AD1 input voltage ±10 V) (Note 2)

_ _ 1F Analog monitor input 2 (AD2 input voltage ±10 V) (Note 2)

Note 1. Encoder pulse unit

2. Offset-adjusted values with [Pr. PT21], [Pr. PT23], and [Pr. PT25] are outputted.

PC10 MOD2 Analog monitor 2 output Select a signal to output to MO2 (Analog monitor 2).


Setting digit


_ _ x x Analog monitor 2 output selection Refer to [Pr. PC09] for settings.

01h


x _ _ _ 0h

3. PARAMETERS

3 - 14

3.2.4 I/O setting parameters ([Pr. PD_ _ ])

Details of I/O setting parameters ([Pr. PD_ _ ]) are the same as those for MR-J4-_B_ servo amplifier. Refer to section 5.2.4 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 3.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])

Details of Extension setting 2 parameters ([Pr. PE_ _ ]) are the same as those for MR-J4-_B_ servo amplifier. Refer to section 5.2.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". 3.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])

Details of Extension setting 3 parameters ([Pr. PF_ _ ]) are the same as those for MR-J4-_B_ servo amplifier. Refer to section 5.2.6 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" and section 5.2.2 of "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual". 3.2.7 Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ])

Linear servo motor/DD motor setting parameters ([Pr. PL_ _ ]) are not used with MR-J4-(DU)_B_-LL servo amplifiers. Do not change from the default. The default values are the same as those for MR-J4-_B_ servo amplifiers. To check the default values, refer to section 5.1.7 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

3. PARAMETERS

3 - 15

3.2.8 Pressure control parameters ([Pr. PT_ _ ])


Setting range

PT01 APA Pressure loop gain Set the proportional gain of the pressure loop. When "0" is set, the pressure command will be 0.

800 0 to

6000

PT02 AIA Pressure integral compensation Set the integral time constant of the pressure loop.

75 [ms]

1 to

1000

PT03 ADA Pressure incomplete integral coefficient Set the incomplete integral factor of the pressure loop. When "10000" is set, the proportional integral control will be set. When "0" is set, the proportional control will be set.

10000 0 to

10000

PT12 *TOP1 Function selection T-1 Refer to the Name and function column. Setting

digit Explanation

Initial value

_ _ _ x For manufacturer setting 0h

_ _ x _ Selection of pressure increasing direction for positioning address Select a pressure increasing direction for the positioning address. 0: Pressure increases as the positioning address decreases 1: Pressure increases as the positioning address increases For the pressure control mode, the servo motor rotation direction and the pressure increasing direction are as follows with a combination of "Rotation direction selection" in [Pr. PT14].

0h

Parameter setting value

Positioning address increase

Positioning address decrease

PT12

"_ _ x _" PA14 Pressure

Servo motor

rotation direction

Pressure

Servo motor

rotation direction

0

0 Decrease

CCW Increase

CW

1 CW CCW

1

0 Increase

CCW Decrease

CW

1 CW CCW

This is available with servo amplifiers with software version B7 or later. In addition, a controller compatible with this function is required.

_ x _ _ Forward/reverse-side stop function Enable/disable the forward/reverse-side stop function.

0h

Setting value

Forward-side stop function

Reverse-side stop function

0 Enabled Enabled

1 Enabled Disabled

2 Disabled Disabled

To use the forward/reverse-side stop function, a controller compatible with this function is required. When using the Motion controller of R64MTCPU/R32MTCPU/R16MTCPU, set the forward/reverse-side stop function to "_ 1 _ _" in [Pr. PT12]. For the mode in which the pressure control axis keeps reversing with an error of the pressure sensor (load cell) during the pressure control, set software stroke limit with the servo system controller. For details, refer to the manuals for servo system controllers.


3. PARAMETERS

3 - 16


Setting range

PT13 *TOP2 Function selection T-2

Refer to the Name and function column. Setting

digit Explanation

Initial value

_ _ _ x Pressure control command compensation Enable/disable the pressure control command compensation.

0: Disabled (A command from the controller will be immediately reflected.) 1: Enabled (A command from the controller will be compensated and then reflected.)

0h

_ _ x _ Speed limit command compensation

Enable/disable the speed control command compensation in the pressure control. 0: Disabled (A command from the controller will be immediately reflected.) 1: Enabled (A command from the controller will be compensated and then reflected.)

0h


x _ _ _ 0h

PT14 *TOP3 Function selection T-3 Refer to the Name and function column. Setting

digit Explanation

Initial value

_ _ _ x A function that clears the integration when the pressure control command is "0" 0: Disabled 1: Enabled

0h

_ _ x _ For manufacturer setting 0h

_ x _ _ 0h

x _ _ _ 0h

PT21 AFBO Pressure feedback offset Set the pressure feedback offset voltage. When "100" is set, the voltage is compensated by -100 mV. When "-100" is set, the voltage is compensated by +100 mV.

0 [mV]

-9999 to

9999

PT22 AFBD Pressure feedback unit constant Set the conversion coefficient of the pressure feedback voltage to be returned to the controller. Set a pressure feedback value to be returned to the controller at the maximum input voltage (10 V) of AD0 (Pressure feedback).

20000

[Command

unit]

500 to

30000

PT23 AO1 Analog monitor input 1 offset Set the offset voltage of the analog monitor input 1. When "100" is set, the voltage is compensated by -100 mV. When "-100" is set, the voltage is compensated by +100 mV.

0 [mV]

-9999 to

9999

PT24 AD1 Analog monitor input 1 unit constant Set the conversion coefficient of the analog monitor input 1 voltage returned to the controller. Set the value of the analog monitor 1 to be returned to the controller at the maximum input voltage (10 V) of AD1 (Analog monitor input 1 voltage).

20000

[Command

unit]

500 to

30000

PT25 AO2 Analog monitor input 2 offset Set the offset voltage of the analog monitor input 2. When "100" is set, the voltage is compensated by -100 mV. When "-100" is set, the voltage is compensated by +100 mV.

0 [mV]

-9999 to

9999

PT26 AD2 Analog monitor input 2 unit constant Set the conversion coefficient of the analog monitor input 2 voltage returned to the controller. Set the value of the analog monitor 2 to be returned to the controller at the maximum input voltage (10 V) of AD2 (Analog monitor input 2 voltage).

20000

[Command

unit]

500 to

30000

3. PARAMETERS

3 - 17


Setting range

PT27 ADF Analog monitor input filter setting Set the low-pass filter for AD0 (Pressure feedback), AD1 (Analog monitor input 1), and AD2 (Analog monitor input 2).


Setting digit


_ _ _ x AD0 (Pressure feedback) filter time constant Select the filter time constant for AD0 (Pressure feedback). Refer to table 3.2 for the filter time constant.

0h

_ _ x _

AD1 (Analog monitor input 1) filter time constant Select the filter time constant for AD1 (Analog monitor input 1). Refer to table 3.2 for the filter time constant.

0h

_ x _ _

AD2 (Analog monitor input 2) filter time constant Select the filter time constant for AD2 (Analog monitor input 2). Refer to table 3.2 for the filter time constant.

0h


Table 3.2 Filter time constant

Setting value

Time constant [ms]

0 Non-filter

1 0.5

2 1

3 2

4 4

5 8

6 16

7 32

8 64

9 128

3. PARAMETERS

3 - 18

MEMO

4. PRESSURE LOOP GAIN ADJUSTMENT

4 - 1


POINT

Before making gain adjustment, check that neither speed nor torque is limited.

4.1 Summary

Adjust pressure control in order to increase the response performance to the pressure command from the controller. Check the pressure command and the pressure feedback, and then execute the gain adjustment of the pressure control in accordance with the machine configuration and the required performance. 4.2 Pressure control adjustment flowchart

The following shows the flowchart of the pressure control adjustment. In this section, "Setting pressure control system" and the subsequent procedures are explained.

Start

End

Startup of the system

Adjustment of position loop gain

Setting of pressure control system

Setting of pressure feedback

Adjustment of pressure loop gain

Checking of adjustment result

Start a system after installation and wiring.

Before executing the pressure control adjustment, adjust GD2 ([Pr. PB06]), PG1 ([Pr. PB07]), PG2 ([Pr. PB08]), VG2 ([Pr. PB09]), and VIC ([Pr. PB10]) in the position control mode, referring to chapter 6 and 7 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Set the rotation direction, the pressure increasing direction for positioning address, and the forward/reverse-side stop function according to the machine configuration. (Refer to section 4.3.)

Set the pressure feedback unit constant, the offset, the filter time constant, etc. with the parameters of the load cell amplifier and the servo amplifier. (Refer to section 4.4.)

Adjust the gain for the pressure control mode. Check the pressure command and the pressure feedback, and adjust the pressure loop gain, the pressure integral compensation, and the pressure incomplete integral coefficient. (Refer to section 4.5.)

Check the operation status by executing the pressure control cycle operation in the actual operation pattern. (Refer to section 4.6.)


4 - 2

4.3 Setting of pressure control system

Set the parameters as follows according to the machine configuration and the controller to be used. (1) Setting of the rotation direction and the pressure increasing direction for the positioning address

Set [Pr. PA14 Rotation direction selection] and "selection of pressure increasing direction for positioning address ( _ _ x _ )" of [Pr. PT12] according to the machine configuration. The following shows the servo motor rotation direction and the pressure increasing direction for the positioning address.

Parameter setting

value Positioning address increase Positioning address decrease

PT12 "_ _ x _"

PA14 Pressure Servo motor

rotation direction

Pressure Servo motor

rotation direction

0 0

Decrease CCW

Increase CW

1 CW CCW

1 0

Increase CCW

Decrease CW

1 CW CCW

The following is an example of a machine in which a chip is pressure-bonded with a pressure control axis rotating in the forward rotation (CCW) direction as the positioning address is increased.

When the servo motor rotates in the forward rotation (CCW) direction asthe positioning address increases:Set [Pr. PA14 Rotation direction selection] to "0".

When the pressure increases as the positioning address increases:Set "selection of pressure increasing direction for positioning address" of[Pr. PT12] to "pressure increases as the positioning address increases( _ _ 1 _ )".

Pressure control axis

Chip

When the setting of [Pr. PA14] or [Pr. PT12] is incorrect, the machine may not operate properly such that the servo motor continues rotating even when the pressure feedback exceeds the pressure command, or the servo motor stops before the pressure feedback reaches the value of the pressure command. In such case, stop the operation immediately, and check the servo motor rotation direction and the pressure increasing direction. Reset [Pr. PA14] and [Pr. PT12] correctly.

(2) Setting of the forward/reverse-side stop function

When the forward/reverse-side stop function is selected with "_ x _ _" of [Pr. PT12], a controller compatible with each function is required. When using the Motion controller of R64MTCPU/R32MTCPU/R16MTCPU, set the forward/reverse-side stop function to "_ 1 _ _" in [Pr. PT12]. For the mode in which the pressure control axis keeps reversing with an error of the pressure sensor (load cell) during the pressure control, set software stroke limit with the servo system controller. For details, refer to the manuals for servo system controllers.


4 - 3

4.4 Setting of pressure feedback

Execute setting related to the pressure feedback. Set the parameters of the load cell amplifier and the servo amplifier. (1) Setting of the pressure feedback unit constant

(a) Setting of the load cell amplifier Adjust the voltage range of the load cell amplifier between 0 and +10 V according to the voltage input range of the pressure feedback.

(b) Setting of [Pr. PT 22 Pressure feedback unit constant]

Set the conversion coefficient of the pressure feedback voltage to be returned to the controller in [Pr. PT 22 Pressure feedback unit constant]. Set a pressure feedback value to be returned to the controller at the maximum input voltage (10 V) of AD0 (Pressure feedback). For example, if [Pr. PT22] is set to "2000", the pressure is controlled in a way the load cell voltage is 10 V when the controller gives the pressure command of 2000.

(2) Setting of the pressure feedback offset

(a) Setting of the load cell amplifier When the load cell amplifier has an offset adjustment function, set the offset adjustment with the load cell amplifier.

(b) Setting of [Pr. PT 21 Pressure feedback offset]

When the load cell amplifier does not have an offset adjustment function, set the pressure feedback offset voltage with [Pr. PT 21 Pressure feedback offset]. When "100" is set, the voltage is compensated by -100 mV. When "-100" is set, the voltage is compensated by +100 mV.

(3) Setting of the pressure feedback input filter

Set the low-pass filter for removing noise from the pressure feedback input. When the low-pass filter is used, the filter response frequency affects the response performance of the pressure control. The higher the filter response frequency, the more stable the pressure control with better response. The following gives an indication of the filter response frequency.

Indication of filter response

frequency Explanation

Recommended: 500 Hz or higher (2 ms or less)

Response performance of the pressure control is high, and the operation is stable.

Lowest: 100 Hz or higher (10 ms or less)

When less than 100 Hz is set to increase the effect of noise removal, the pressure control is still possible; however, the pressure control response will be low.

(a) Setting of the load cell amplifier

If it is possible to set the low-pass filter as a noise removal function of the analog signal with the load cell amplifier, set the filter with the load cell amplifier.

(b) Setting of [Pr. PT27 Analog monitor input filter setting]

If it is not possible to set the low-pass filter with the load cell amplifier, set the low-pass filter of the pressure feedback by setting "AD0 (Pressure feedback) filter time constant" of [Pr. PT27] to "_ _ _ x".


4 - 4

4.5 Adjustment of pressure loop gain

POINT

Changing [Pr. PT22 Pressure feedback unit constant] also changes the response performance of the pressure control. In this case, readjust the pressure loop gain.

To adjust the pressure control, adjust the following in order of the proportional control gain (pressure loop gain) and the integral control gain (pressure integral compensation and pressure incomplete integral coefficient). If the result of the proportional control gain adjustment does not satisfy the required performance, adjust the integral control gain. (1) Parameters

The following parameters are used for the gain adjustment of the pressure control.

Parameter Symbol Name

PT01 APA Pressure loop gain

PT02 AIA Pressure integral compensation

PT03 ADA Pressure incomplete integral coefficient


4 - 5

(2) Adjustment of the proportional control gain (pressure loop gain)

First, set [Pr. PT01], [Pr. PT02], and [Pr. PT03] as follows in order to enable only the proportional control gain.

Parameter Symbol Setting

PT01 APA Set "10".

PT02 AIA Set "1000".

PT03 ADA Set "0".

Next, increase the value of [Pr. PT01] gradually with a constant value of the pressure command is being input from the controller. If a vibration occurs, decrease the value slightly. As a rough guide, set [Pr. PT01] to 70% to 80% of the value generated the vibration. If this satisfies the required performance, setting the integral control gain is not necessary.

The following shows the relation between the setting value of the proportional control gain (pressure loop gain) and the response performance.

[Pr. PT01 Pressure control gain]

Setting value of [Pr. PT01]Large

Low

High

Small Time

Pressure command

Pressure feedback

Increasing the setting value of [Pr. PT01] improves track ability to the command.A too large setting value will generate vibration.

Res

pons

e Pre

ssur

e

Increasing the setting value of [Pr. PT01]

Changing [Pr. PT22 Pressure feedback unit constant] also changes the response performance of the pressure control. In this case, readjust the pressure loop gain. For example, if the value of [Pr. PT22] is doubled, it works the same as the pressure control proportional gain of [Pr. PT01 Pressure loop gain] is doubled. When the response performance of the pressure control needs to be unchanged, change the setting value of [Pr. PT01] to "(the value of [Pr. PT22] before change)/(the value of [Pr. PT22] after change)", and check the operation.

(3) Adjustment of the integral control gain (pressure integral compensation and pressure incomplete integral

coefficient) If the result of the proportional control gain adjustment does not satisfy the required performance, adjust the integral control gain. The integral control gain adjustment differs depending on the machine configuration. Adjust the gain by following (a) or (b) which suits your machine. "A machine providing a constant pressure when the servo motor stops" refers to a machine pressing together with a constant pressure by using the pressure control. "A machine providing a constant pressure when the servo motor rotates" refers to a machine pushing out with a constant pressure by using the pressure control.


4 - 6

(a) For a machine providing a constant pressure when the servo motor stops

First, set [Pr. PT01], [Pr. PT02], and [Pr. PT03] as follows.


PT01 APA Set the result of (2) adjustment of the proportional control gain (pressure loop gain)

PT02 AIA Set "500".

PT03 ADA Set "5000".

Next, increase the value of [Pr. PT03] gradually. If an overshoot or a vibration occurs, decrease the value slightly. It is not necessary to set too large value in [Pr. PT03]. Then, decrease the value of [Pr. PT02] gradually. If an overshoot or a vibration occurs, increase the value slightly.

The following shows the relation between the setting value of the integral control gain (pressure integral compensation and pressure incomplete integral coefficient) and the response performance.

[Pr. PT03 Pressure incomplete integral coefficient]


Low

High

Small Time

Res

pons

e Pre

ssur

e

Pressure command

Pressure feedback

Increasing the setting value of [Pr. PT03] improves track ability to the command.A too large setting value will generate overshoot or vibration.


[Pr. PT02 Pressure integral compensation]


Low

High

Small Time

Decreasing the setting value of [Pr. PT02] improves track ability to the command.A too small setting value will generate overshoot or vibration.

Res

pons

e Pre

ssur

e

Pressure command

Pressure feedback

Decreasing the setting value of [Pr. PT02]


4 - 7

(b) For a machine providing a constant pressure when the servo motor rotates

First, set [Pr. PT01], [Pr. PT02], and [Pr. PT03] as follows.


PT01 APA Set the result of (2) adjustment of the proportional control gain (pressure loop gain)

PT02 AIA Set "500".

PT03 ADA Set "10000".

Next, if an overshoot or a vibration occurs when [Pr. PT03] is set to "10000", decrease the value of [Pr. PT03] until the overshoot or the vibration stops. Then, decrease the value of [Pr. PT02] gradually. If an overshoot or a vibration occurs, increase the value slightly.

The following shows the relation between the setting value of the integral control gain (pressure integral compensation and pressure incomplete integral coefficient) and the response performance.

[Pr. PT03 Pressure incomplete integral coefficient]


Low

High

Small Time

If the setting value of [Pr. PT03] is small, the pressure does not reach to the command.A too large setting value will generate overshoot.

Res

pons

e Pre

ssur

e

Pressure command

Pressure feedback


[Pr. PT02 Pressure integral compensation]

Pressure command

Pressure feedback

Decreasing the setting value of [Pr. PT02]

Decreasing the setting value of [Pr. PT02] improves track ability to the command.A too small setting value will generate overshoot or vibration.


Low

High

Small Time

Res

pons

e Pre

ssur

e

4.6 Checking of adjustment result

After adjusting the pressure loop gain, check the operation by executing the pressure control cycle operation with the actual operation patterns. When there is no problem, the pressure control adjustment is complete. If a vibration occurs, execute "4.5 Adjustment of pressure loop gain" again.


4 - 8

MEMO

5. TROUBLESHOOTING

5 - 1

5. TROUBLESHOOTING

POINT

This chapter explains the details of alarms and warnings exclusively for the MR-J4-(DU)_B_-LL. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for other alarms and warnings.

As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.

[AL. 37 Parameter error] and warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning occurs, refer to section 5.4 and 5.5 in this manual, and "MR-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to take appropriate action. When an alarm occurs, ALM (Malfunction) will turn off. 5.1 Explanations of the lists

(1) No./Name/Detail No./Detail name Indicates the alarm or warning No., name, detail No., and detail name.

(2) Stop method

For the alarms and warnings in which "SD" is written in the stop method column, the servo motor stops with the dynamic brake after forced stop deceleration. For the alarms and warnings in which "DB" or "EDB" is written in the stop method column, the servo motor stops with the dynamic brake without forced stop deceleration.

(3) Alarm deactivation

After the alarm cause has been removed, the alarm can be deactivated in any of the methods marked ○ in the alarm deactivation column. Warnings are automatically canceled after the cause of occurrence is removed. Alarms are deactivated by alarm reset, CPU reset, or power cycling.

Alarm deactivation Explanation

Alarm reset 1. Error reset command from the controller 2. Click the "Occurred Alarm Reset" in the "Alarm Display" window of MR

Configurator2.

CPU reset Reset the controller itself.

Cycling the power Turn the power off and on again.

5. TROUBLESHOOTING

5 - 2

5.2 Alarm list

No. Name Detail No.

Detail name

Stop method

(Note 3, 4)

Alarm deactivation

Alarm reset

CPU reset

Cycling the

power

Ala

rm

10 Undervoltage 10.1 Voltage drop in the control circuit power EDB

10.2 Voltage drop in the main circuit power SD

12.1 RAM error 1 DB

12.2 RAM error 2 DB

12 Memory error 1 (RAM) 12.3 RAM error 3 DB

12.4 RAM error 4 DB

12.5 RAM error 5 DB

13 Clock error

13.1 Clock error 1 DB

13.2 Clock error 2 DB

14.1 Control process error 1 DB




14 Control process error






14.A Control process error 10 DB

15

Memory error 2 (EEP-ROM)

15.1 EEP-ROM error at power on DB

15.2 EEP-ROM error during operation DB

16.1 Encoder initial communication - Receive data error 1

DB


DB


DB

16.5 Encoder initial communication - Transmission data error 1

DB

16 Encoder initial

communication error 1 16.6

Encoder initial communication - Transmission data error 2

DB

16.7 Encoder initial communication - Transmission data error 3

DB

16.A Encoder initial communication - Process error 1 DB

16.B Encoder initial communication - Process error 2 DB

16.C Encoder initial communication - Process error 3 DB

16.D Encoder initial communication - Process error 4 DB

16.E Encoder initial communication - Process error 5 DB

16.F Encoder initial communication - Process error 6 DB

17.1 Board error 1 DB


17 Board error 17.4 Board error 3 DB



19

Memory error 3 (Flash-ROM)

19.1 Flash-ROM error 1 DB

19.2 Flash-ROM error 2 DB

1A

Servo motor combination error

1A.1 Servo motor combination error DB

1A.4 Servo motor combination error 2 DB

1E Encoder initial

communication error 2 1E.1 Encoder malfunction DB

1F Encoder initial

communication error 3 1F.1 Incompatible encoder DB

5. TROUBLESHOOTING

5 - 3

No. Name Detail No.

Detail name

Stop method

(Note 3, 4)

Alarm deactivation

Alarm reset

CPU reset

Cycling the

power A

larm

20.1 Encoder normal communication - Receive data error 1

EDB


EDB


EDB

20 Encoder normal

communication error 1

20.5 Encoder normal communication - Transmission data error 1

EDB


EDB


EDB


EDB

20.A Encoder normal communication - Receive data error 5

EDB

21.1 Encoder data error 1 EDB

21.2 Encoder data update error EDB

Encoder normal

communication error 2

21.3 Encoder data waveform error EDB

21 21.4 Encoder non-signal error EDB

21.5 Encoder hardware error 1 EDB

21.6 Encoder hardware error 2 EDB

21.9 Encoder data error 2 EDB

24 Main circuit error

24.1 Ground fault detected at hardware detection circuit

DB

24.2 Ground fault detected by software detection function

DB

25 Absolute position erased 25.1 Servo motor encoder - Absolute position erased DB

2B Encoder counter error 2B.1 Encoder counter error 1 EDB

30.1 Regeneration heat error DB

(Note 1)

(Note 1)

(Note 1)

30 Regenerative error 30.2 Regeneration signal error DB

(Note 1)

(Note 1)

(Note 1)

30.3 Regeneration feedback signal error DB

(Note 1)

(Note 1)

(Note 1)

31 Overspeed 31.1 Abnormal motor speed SD

32.1 Overcurrent detected at hardware detection circuit (during operation)

DB

32 Overcurrent

32.2 Overcurrent detected at software detection function (during operation)

DB

32.3 Overcurrent detected at hardware detection circuit (during a stop)

DB

32.4 Overcurrent detected at software detection function (during a stop)

DB

33 Overvoltage 33.1 Main circuit voltage error EDB

34.1 SSCNET receive data error SD

(Note 2)

34 SSCNET receive error 1 34.2 SSCNET connector connection error SD

34.3 SSCNET communication data error SD

34.4 Hardware error signal detection SD

35 Command frequency error 35.1 Command frequency error SD

36 SSCNET receive error 2 36.1 Continuous communication data error SD

37 Parameter error

37.1 Parameter setting range error DB

37.2 Parameter combination error DB

3A Inrush current suppression

circuit error 3A.1 Inrush current suppression circuit error EDB

3E Operation mode error

3E.1 Operation mode error DB

3E.4 Control command inconsistency 1 DB

3E.5 Control command inconsistency 2 DB

45 Main circuit device

overheat

45.1 Main circuit device overheat error 1 SD

(Note 1)

(Note 1)

(Note 1)

45.2 Main circuit device overheat error 2 SD

(Note 1)

(Note 1)

(Note 1)

5. TROUBLESHOOTING

5 - 4

No. Name Detail No.

Detail name

Stop method

(Note 3, 4)

Alarm deactivation

Alarm reset

CPU reset

Cycling the

power A

larm

46.1 Abnormal temperature of servo motor 1 SD

(Note 1)

(Note 1)

(Note 1)

46.2 Abnormal temperature of servo motor 2 SD

(Note 1)

(Note 1)

(Note 1)

46 Servo motor overheat

46.3 Thermistor disconnected error SD

(Note 1)

(Note 1)

(Note 1)

46.4 Thermistor circuit error SD

(Note 1)

(Note 1)

(Note 1)

46.5 Abnormal temperature of servo motor 3 DB

(Note 1)

(Note 1)

(Note 1)

46.6 Abnormal temperature of servo motor 4 DB

(Note 1)

(Note 1)

(Note 1)

47 Cooling fan error

47.1 Cooling fan stop error SD

47.2 Cooling fan speed reduction error SD

50.1 Thermal overload error 1 during operation SD

(Note 1)

(Note 1)

(Note 1)


(Note 1)

(Note 1)

(Note 1)

50 Overload 1


(Note 1)

(Note 1)

(Note 1)

50.4 Thermal overload error 1 during a stop SD

(Note 1)

(Note 1)

(Note 1)


(Note 1)

(Note 1)

(Note 1)


(Note 1)

(Note 1)

(Note 1)

51 Overload 2

51.1 Thermal overload error 3 during operation DB

(Note 1)

(Note 1)

(Note 1)

51.2 Thermal overload error 3 during a stop DB

(Note 1)

(Note 1)

(Note 1)

52.1 Excess droop pulse 1 SD

52 Error excessive

52.3 Excess droop pulse 2 SD

52.4 Error excessive during 0 torque limit SD

52.5 Excess droop pulse 3 EDB

54 Oscillation detection 54.1 Oscillation detection error EDB

56 Forced stop error

56.2 Over speed during forced stop EDB

56.3 Estimated distance over during forced stop EDB

63 STO timing error

63.1 STO1 off DB

63.2 STO2 off DB

8A USB communication time-

out error 8A.1 USB communication time-out error SD

8E USB communication error

8E.1 USB communication receive error SD

8E.2 USB communication checksum error SD

8E.3 USB communication character error SD

8E.4 USB communication command error SD

8E.5 USB communication data number error SD

888 Watchdog 88._ Watchdog DB

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence. 2. In some controller communication status, the alarm factor may not be removed. 3. The following shows three stop methods of DB, EDB, and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.) EDB: Electronic dynamic brake stop (available with specified servo motors)

Refer to the following table for the specified servo motors. For other than the specified servo motors, the stop method of DB is applied.

Series Servo motor HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43 HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43 HG-SR HG-SR51/HG-SR52

SD: Forced stop deceleration 4. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SD can be changed to DB using

[Pr. PA04].

5. TROUBLESHOOTING

5 - 5

5.3 Warning list

No. Name Detail No.

Detail name

Stop method (Note 2,

3)

W

arni

ng

91 Servo amplifier overheat

warning (Note 1) 91.1 Main circuit device overheat warning

92 Battery cable

disconnection warning

92.1 Encoder battery cable disconnection warning

92.3 Battery degradation

95 STO warning

95.1 STO1 off detection DB

95.2 STO2 off detection DB

96

Home position setting warning

96.1 In-position warning at home positioning

96.2 Command input warning at home positioning

9B.1 Excess droop pulse 1 warning

9B Error excessive warning 9B.3 Excess droop pulse 2 warning

9B.4 Error excessive warning during 0 torque limit

9F Battery warning

9F.1 Low battery

9F.2 Battery degradation warning

E0 Excessive regeneration

warning (Note 1) E0.1 Excessive regeneration warning

E1.1 Thermal overload warning 1 during operation



E1

Overload warning 1

(Note 1)


E1.5 Thermal overload warning 1 during a stop




E2 Servo motor overheat

warning (Note 1) E2.1 Servo motor temperature warning

E3

Absolute position counter warning

E3.2 Absolute position counter warning

E3.5 Encoder absolute positioning counter warning

E4 Parameter warning E4.1 Parameter setting range error warning

E6 Servo forced stop warning E6.1 Forced stop warning SD

E7 Controller forced stop

warning E7.1 Controller forced stop input warning SD

E8

Cooling fan speed reduction warning

E8.1 Decreased cooling fan speed warning

E8.2 Cooling fan stop

E9.1 Servo-on signal on during main circuit off DB

E9 Main circuit off warning E9.2 Bus voltage drop during low speed operation DB

E9.3 Ready-on signal on during main circuit off DB

EC Overload warning 2

(Note 1) EC.1 Overload warning 2

ED Output watt excess

warning ED.1 Output watt excess warning

EF Reverse-side stop warning EF.1 Reverse-side stop warning

F0 Tough drive warning

F0.1 Instantaneous power failure tough drive warning

F0.3 Vibration tough drive warning

F2

Drive recorder - Miswriting warning

F2.1 Drive recorder - Area writing time-out warning

F2.2 Drive recorder - Data miswriting warning

F3 Oscillation detection

warning F3.1 Oscillation detection warning

Note 1. Leave for about 30 minutes of cooling time after removing the cause of occurrence.

2. The following shows two stop methods of DB and SD.

DB: Dynamic brake stop (For a servo amplifier without the dynamic brake, the servo motor coasts.)

SD: Forced stop deceleration

3. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using

[Pr. PA04].

5. TROUBLESHOOTING

5 - 6

5.4 Remedies for alarms

CAUTION

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. Otherwise, it may cause injury.

If [AL. 25 Absolute position erased] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.

As soon as an alarm occurs, make the Servo-off status and interrupt the main circuit power.

POINT

This section explains the details of alarms exclusively for the MR-J4-(DU)_B_-LL. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for other alarms.

When any of the following alarms occurs, do not deactivate the alarm repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. Remove its cause and allow 30 minutes or more for cooling, and then resume the operation.

[AL. 30 Regenerative error] [AL. 45 Main circuit device overheat]

[AL. 46 Servo motor overheat] [AL. 50 Overload 1]

[AL. 51 Overload 2]

[AL. 37 Parameter error] is not recorded in the alarm history.

Refer to this section and "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the cause of the alarm. Use MR Configurator2 to refer to the cause of alarm occurrence. Alarm No.: 3E Name: Operation mode error

Alarm content The operation mode setting was changed. The control mode was mistakenly switched.

Detail No.

Detail name Cause Check method Check result Action Target

3E.1 Operation mode error

(1) The MR-J4-_B_-LL servo amplifier was connected to an SSCNET III controller.

Check if the servo amplifier was connected to an SSCNET III controller.

Connected. Connect the servo amplifier to an SSCNET III/H controller.

[B]

3E.4 Control command inconsistency 1

(1) The control mode of the MR-J4-_B_-LL servo amplifier was switched to the torque control mode.

Check if the control mode was switched to the torque control mode.

Executed. Review the controller setting.

3E.5 Control command inconsistency 2

(1) The control mode of the MR-J4-_B_-LL servo amplifier was switched to the continuous operation to torque control mode.

Check if the control mode was switched to the continuous operation to torque control mode.

Executed. Review the controller setting.

5. TROUBLESHOOTING

5 - 7

5.5 Remedies for warnings

CAUTION If [AL. E3 Absolute position counter warning] occurs, always make home position setting again. Otherwise, it may cause an unexpected operation.

POINT

This section explains the details of warnings exclusively for the MR-J4-(DU)_B_-LL. Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" for other warnings.

When any of the following warnings occurs, do not cycle the power of the servo amplifier repeatedly to restart. Doing so will cause a malfunction of the servo amplifier and servo motor. If the power of the servo amplifier is switched off/on during the warnings, allow more than 30 minutes for cooling before resuming operation.

[AL. 91 Servo amplifier overheat warning] [AL. E0 Excessive regeneration warning]

[AL. E1 Overload warning 1] [AL. E2 Servo motor overheat warning]

[AL. EC Overload warning 2]

Warnings (except [AL. F0 Tough drive warning]) are not recorded in the alarm history.

If [AL. E6], [AL. E7], [AL. E9], [AL. EA], or [AL. EB] occurs, the servo amplifier will be the servo-off status. If any other warning occurs, operation can be continued but an alarm may occur and proper operation may not be performed. Refer to this section and "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)" to remove the cause of the warning. Use MR Configurator2 to refer to the cause of warning occurrence. Alarm No.: EF Name: Reverse-side stop warning

Alarm content During the pressure control mode, the set reverse-side stop position was exceeded.

Detail No.

Detail name Cause Check method Check result Action Target

EF.1 Reverse-side stop warning

(1) Setting of the "forward/ reverse-side stop function" in [Pr. PT12] is incorrect.

Check if [Pr. PT12] is set to "_ 1 _ _".

[Pr. PT12] is not set to "_ 1 _ _".

Set [Pr. PT12] to "_ 1 _ _".

[B]

5. TROUBLESHOOTING

5 - 8

MEMO

6. OPTIONS AND PERIPHERAL EQUIPMENT

6 - 1


WARNING

Before connecting any option or peripheral equipment, turn off the power and wait for 15 minutes or more (20 minutes or more for converter unit) until the charge lamp turns off. Then, confirm that the voltage between P+ and N- (between L+ and L- for converter unit) is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, be sure to look at the lamp from the front of the servo amplifier.

CAUTION Use the specified peripheral equipment and options to prevent a malfunction or a fire.

POINT

We recommend using HIV wires to wire the servo amplifiers, options, and peripheral equipment. Therefore, the recommended wire sizes may differ from those used for the previous servo amplifiers.

The following items are the same as those for MR-J4-_B_. For the details of the items, refer to each chapter/section indicated in the detailed explanation field. "MR-J4-_B_" means "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". "MR-J4-_DU_" means "MR-J4-DU_(-RJ)/MR-CR55K_ Instruction Manual".


Cable/connector sets MR-J4-_B_ section 11.1 MR-J4-_DU_ section 9.1

Regenerative option MR-J4-_B_ section 11.2 MR-J4-_DU_ section 9.2

FR-BU2-(H) brake unit MR-J4-_B_ section 11.3


FR-RC-(H) power regeneration converter MR-J4-_B_ section 11.4

FR-CV-(H) power regeneration common converter MR-J4-_B_ section 11.5

Junction terminal block PS7DW-20V14B-F (recommended)

MR-J4-_B_ section 11.6

Battery MR-J4-_B_ section 11.8

Selection example of wires MR-J4-_B_ section 11.9 MR-J4-_DU_ section 9.4

Molded-case circuit breakers, fuses, magnetic contactors MR-J4-_B_ section 11.10 MR-J4-_DU_ section 9.5

Power factor improving DC reactor MR-J4-_B_ section 11.11 MR-J4-_DU_ section 9.6

Power factor improving AC reactor MR-J4-_B_ section 11.12

Relay (recommended) MR-J4-_B_ section 11.13

Noise reduction techniques MR-J4-_B_ section 11.14 MR-J4-_DU_ section 9.7

Earth-leakage current breaker MR-J4-_B_ section 11.15 MR-J4-_DU_ section 9.8

EMC filter (recommended) MR-J4-_B_ section 11.16 MR-J4-_DU_ section 9.9

External dynamic brake MR-J4-_B_ section 11.17 MR-J4-_DU_ section 9.3

Panel through attachment (MR-J4ACN15K/MR-J3ACN)

MR-J4-_B_ section 11.18


6 - 2

6.1 MR Configurator2

POINT

MR Configurator2 with software version 1.37P or later is supported by the MR-J4-(DU)_B_-LL servo amplifiers.

Items not mentioned in this section are the same as those for MR-J4-_B_ servo amplifier. Refer to section 11.7 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

MR Configurator2 (SW1DNC-MRC2-_) uses the communication function of the servo amplifier to perform parameter setting changes, graph display, test operation, etc. on a personal computer. 6.1.1 Specifications

Item Description

Project Create/read/save/delete project, system setting, and print

Parameter Parameter setting

Monitor Display all, I/O monitor, graph, and ABS data display

Diagnosis Alarm display, alarm onset data, drive recorder, no motor rotation (Note), system configuration, life diagnosis, machine diagnosis (Note)

Test operation Jog operation, positioning operation, motor-less operation (Note), DO forced output, program operation, and test mode information

Adjustment One-touch tuning, tuning, and machine analyzer

Others Servo assistant, update parameter setting range, machine unit conversion setting, help display

Note. Do not use it in the pressure control mode.

APPENDIX

App. - 1

APPENDIX

App. 1 Optional data monitor function

The optional data monitor function is used to monitor data in the servo amplifier with the servo system controller. In the optional data monitor function, data types of registered monitor and transient command can be set. For details of usage and others, refer to the manuals for servo system controllers. App. 1.1 Registered monitor

The following explains data types exclusively for the MR-J4-(DU)_B_-LL. Items not mentioned are the same as those for MR-J4-_B_ servo amplifier. Refer to app. 13.1 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

Data type Description

Pressure command The pressure command from the controller is displayed.

Load cell pressure A pressure feedback value of the load cell for pressure control is displayed.

Monitor input signal ch1 A value of the analog monitor input 1 is displayed.

Monitor input signal ch2 A value of the analog monitor input 2 is displayed.

App. 1.2 Transient command

Transient commands are the same as those for MR-J4-_B_ servo amplifiers. Refer to app. 13.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual".

REVISIONS

*The manual number is given on the bottom left of the back cover. Print date *Manual Number Revision

Jun. 2016 SH(NA)030241-A First edition

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2016 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.

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Tel Fax

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Tel Fax

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Warranty

1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations]

(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your

hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval

(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a

safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly

maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)

(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters

(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment

of the Product from our company

(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The

announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:

(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.

(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.

(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030241-A

SH(NA)030241-A(1606)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODELCODE

General-Purpose AC Servo

MR

-J4-_B_-L

L S

ER

VO

AM

PL

IFIE

R IN

ST

RU

CT

ION

MA

NU

AL

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

MODEL (SERVO AMPLIFIER)

MR-J4-_B_-LL

SSCNET /H Interface AC Servo for Pressure Control

SERVO AMPLIFIER INSTRUCTION MANUAL

MODEL (DRIVE UNIT)

MR-J4-DU_B_-LL

Documents

MR-J4- B -LL MODEL (DRIVE UNIT) MR-J4-DU B -LL · PDF fileSH(NA)030241-A(1606)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses